Input/output operation device

ABSTRACT

An input/output operation device (165) includes: an operation part (850); a movable unit (180) including a loosely fitted space inside, a main body supporting the operation part (802) and including a first loosely fitted surface (820) exposed in the loosely fitted space, and at least one drive magnet (401, 402); a fixed unit including a second loosely fitted surface (821) in point- or line-contact with the first loosely fitted surface of the movable unit, a holder (811) supporting the movable unit for free rotation, a base (811) including a space for accommodating at least a part of the movable unit and supporting the holder, and at least one drive coil (301, 302); a drive part to rotate the movable unit with respect to the fixed unit; and a detector to detect a position of the operation part in the fixed unit. One of the first and second loosely fitted surfaces includes an inner peripheral surface formed into a recessed portion, and another one of the first and second loosely fitted surfaces includes at least one protruded spherical surface.

TECHNICAL FIELD

This application relates to an input/output operation device including a two-axis or three-axis input operation part.

BACKGROUND ART

In recent years, an increase in degree and diversity of functionalities are in progress in electronic devices installed in vehicles in order to increase safety, security, and comfort. As a result, operation procedures carried out by a driver have become very complex. In terms of simplification of the complex operation, for example, a human-machine interface (HMI) matching a sense of an operator and high in operability is required for operations on a navigation system, an air conditioner, an audio device, a radio, and other such devices. Moreover, in order to suppress movement of the line of sight of the driver during traveling, an input device may be installed on a steering wheel.

As HMIs having compatibility, there have been proposed an input device enabling a three-axis operation and a haptic device having a force feedback function.

For example, in Patent Document No. 1, there is disclosed a three-axis input operation device configured to restrict movement directions of an operation part so that the operation part can move only in X, Y, and Z axis directions, and carry out position detection of the operation part in the X, Y, and Z axis directions.

In Patent Document No. 2, there is disclosed an input operation device configured to hold an operation part for rotation about three axes, and capable of detecting rotation angles.

Moreover, in Patent Document No. 3, there is disclosed a haptic device configured to rotate an operation part about X and Y axes, detect relative displacement amounts about the axes, and apply a force sense to the operation part by motors installed in respective rotation mechanisms. In Patent Document No. 4, there is disclosed a steering wheel switch that is installed on a steering wheel, and enables a depression operation and a rotation operation.

CITATION LIST Patent Literature

-   -   Patent Document No. 1: Japanese Patent Application Laid-Open         Publication No. Sho 58-172739     -   Patent Document No. 2: Japanese Patent Application Laid-Open         Publication No. Hei 5-57645     -   Patent Document No. 3: Japanese Patent Application Laid-Open         Publication No. 2005-332039     -   Patent Document No. 4: Japanese Patent Application Laid-Open         Publication No. 2013-95367

SUMMARY OF INVENTION Technical Problem

There has been demanded an HMI higher in operability in the related-art input devices and haptic devices. Non-limitative but illustrative embodiments of this application provide an input/output operation device higher in operability.

Solution to Problem

An input/output operation device according to one embodiment of this disclosure includes: an operation part including a surface to be operated by an operator; a movable unit including a loosely fitted space inside, a main body supporting the operation part and including a first loosely fitted surface exposed in the loosely fitted space, and at least one drive magnet; a fixed unit including a second loosely fitted surface in point- or line-contact with the first loosely fitted surface of the movable unit, a holder supporting the movable unit for free rotation, a base including a space for accommodating at least a part of the movable unit and supporting the holder, and at least one drive coil; a drive part to rotate the movable unit with respect to the fixed unit, the drive part including the at least one drive magnet and the at least one drive coil; and a detector to detect a position of the operation part in the fixed unit, in which one of the first loosely fitted surface and the second loosely fitted surface includes an inner peripheral surface formed into a recessed portion, and another one of the first loosely fitted surface and the second loosely fitted surface includes at least one protruded spherical surface.

Advantageous Effects of Invention

With the input/output operation device according to this disclosure, an input/output operation device higher in operability is provided.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is an exploded perspective view for illustrating a schematic configuration of an actuator 165 in a steering input/output operation device 750 according to a first embodiment of the present invention.

FIG. 2 is an exploded perspective view for illustrating a detailed configuration of a movable unit 180 of the actuator 165 according to the first embodiment.

FIG. 3A is a perspective view for illustrating magnetic back yokes 670 of the movable unit 180 of the actuator 165 according to the first embodiment viewed from above.

FIG. 3B is a plan view for illustrating the magnetic back yokes 670 of the movable unit 180 of the actuator 165 according to the first embodiment viewed from above in a Z axis 10 direction.

FIG. 4A is a perspective view for illustrating the actuator 165 according to the first embodiment viewed from above.

FIG. 4B is a perspective view for illustrating the actuator 165 according to the first embodiment viewed from above, and is a perspective view without a detachment prevention member 201.

FIG. 4C is a perspective view for illustrating the detachment prevention member 201 of the actuator 165 according to the first embodiment viewed from above.

FIG. 5A is a top view for illustrating the actuator 165 according to the first embodiment viewed in the Z axis 10 direction without the detachment prevention member 201.

FIG. 5B is a plan view for illustrating the actuator 165 according to the first embodiment viewed in a straight line 13 direction without the detachment prevention member 201.

FIG. 6 is a perspective view for illustrating the actuator 165 without an operation part 850 and an upper movable part 150 of the actuator 165 according to the first embodiment viewed from above.

FIG. 7 is a perspective view for illustrating a fixed unit of the actuator 165 according to the first embodiment viewed from above.

FIG. 8A is an exploded perspective view for illustrating a schematic configuration of the fixed unit of the actuator 165 according to the first embodiment.

FIG. 8B is an exploded perspective view for illustrating a configuration of one drive means installed on the fixed unit of the actuator 165 according to the first embodiment.

FIG. 9A is a top view for illustrating the actuator 165 according to the first embodiment viewed in the Z axis 10 direction without the detachment prevention member 201.

FIG. 9B is a cross sectional view taken on a plane containing the Z axis 10 and a rotation axis 11 of the actuator 165, for illustrating the actuator 165 according to the first embodiment without the detachment prevention member 201.

FIG. 10A is a top view for illustrating the actuator 165 according to the first embodiment viewed in the Z axis 10 direction without the detachment prevention member 201.

FIG. 10B is a cross sectional view taken on a plane containing the Z axis 10 and a rotation axis 12 of the actuator 165, for illustrating the actuator 165 according to the first embodiment without the detachment prevention member 201.

FIG. 11A is a top view for illustrating the actuator 165 according to the first embodiment viewed in the Z axis 10 direction without the detachment prevention member 201.

FIG. 11B is a cross sectional view taken on a plane containing the Z axis 10 and the straight line 13 of the actuator 165, for illustrating the actuator 165 according to the first embodiment without the detachment prevention member 201.

FIG. 12 is a perspective view for illustrating the actuator 165 according to the first embodiment viewed from above without the detachment prevention member 201 under a state in which the actuator 165 is rotated at a composite angle θ_(xy) of the same angles in a rotation direction 20 and a rotation direction 21.

FIG. 13A is a top view for illustrating the actuator 165 according to the first embodiment viewed in the Z axis 10 direction without the detachment prevention member 201 under the state in which the actuator 165 is rotated at the composite angle θ_(xy) of the same angles in the rotation direction 20 and the rotation direction 21.

FIG. 13B is a cross sectional view taken on the plane containing the Z axis 10 and the straight line 13, for illustrating the actuator 165 according to the first embodiment without the detachment prevention member 201 under the state in which the actuator 165 is rotated at the composite angle θ_(xy) of the same angles in the rotation direction 20 and the rotation direction 21.

FIG. 14A is a top view for illustrating the fixed unit of the actuator 165 according to the first embodiment.

FIG. 14B is a cross sectional view taken on the plane containing the Z axis 10 and the Y axis direction rotation axis 11, for illustrating the fixed unit of the actuator 165 according to the first embodiment.

FIG. 15 is a top view for illustrating a sensor board 502 of the actuator 165 according to the first embodiment viewed from above in the Z axis 10 direction.

FIG. 16 is a configuration diagram for illustrating the entire steering input/output operation device 750 according to the first embodiment.

FIG. 17 is a detailed block diagram for illustrating the configuration of the steering input/output operation device 750 according to the first embodiment.

FIG. 18 is a diagram for illustrating a steering wheel on which the steering input/output operation device is installed.

FIG. 19A is a diagram for illustrating an operation direction of the operation part of the actuator when the steering wheel is at a neutral position.

FIG. 19B is a diagram for illustrating an operation direction of the operation part of the actuator when the steering wheel is at the neutral position.

FIG. 19C is a diagram for illustrating an operation direction of the operation part of the actuator when the steering wheel is at the neutral position.

FIG. 19D is a diagram for illustrating an operation direction of the operation part of the actuator when the steering wheel is at the neutral position.

FIG. 20A is a diagram for illustrating a state in which the steering wheel is rotated by θ_(A).

FIG. 20B is a diagram for illustrating an operation direction of the operation part of the actuator when the steering wheel is rotated by θ_(A).

FIG. 20C is a diagram for illustrating an operation direction of the operation part of the actuator when the steering wheel is rotated by θ_(A).

FIG. 20D is a diagram for illustrating an operation direction of the operation part of the actuator when the steering wheel is rotated by θ_(A).

FIG. 20E is a diagram for illustrating an operation direction of the operation part of the actuator when the steering wheel is rotated by θ_(A).

FIG. 21 is a diagram for illustrating details of coordinate conversion in the steering input/output operation device 750 according to the first embodiment.

FIG. 22A is a diagram for illustrating an operation direction when the coordinate conversion for the actuator 165 is carried out under a state in which a steering wheel 550 is rotated by the operation rotation angle θ_(A) in the steering input/output operation device 750 according to the first embodiment.

FIG. 22B is a diagram for illustrating an operation direction when the coordinate conversion for the actuator 165 is carried out under the state in which the steering wheel 550 is rotated by the operation rotation angle θ_(A) in the steering input/output operation device 750 according to the first embodiment.

FIG. 22C is a diagram for illustrating an operation direction when the coordinate conversion for the actuator 165 is carried out under the state in which the steering wheel 550 is rotated by the operation rotation angle θ_(A) in the steering input/output operation device 750 according to the first embodiment.

FIG. 22D is a diagram for illustrating an operation direction when the coordinate conversion for the actuator 165 is carried out under the state in which the steering wheel 550 is rotated by the operation rotation angle θ_(A) in the steering input/output operation device 750 according to the first embodiment.

FIG. 22E is a diagram for illustrating an operation direction when the coordinate conversion for the actuator 165 is carried out under the state in which the steering wheel 550 is rotated by the operation rotation angle θ_(A) in the steering input/output operation device 750 according to the first embodiment.

FIG. 23A is a diagram for illustrating an operation direction when the coordinate conversion for the actuator 165 is carried out under a state in which the steering wheel 550 is rotated by an operation rotation angle −θ_(A) in the steering input/output operation device 750 according to the first embodiment.

FIG. 23B is a diagram for illustrating an operation direction when the coordinate conversion for the actuator 165 is carried out under the state in which the steering wheel 550 is rotated by the operation rotation angle −θ_(A) in the steering input/output operation device 750 according to the first embodiment.

FIG. 23C is a diagram for illustrating an operation direction when the coordinate conversion for the actuator 165 is carried out under the state in which the steering wheel 550 is rotated by the operation rotation angle −θ_(A) in the steering input/output operation device 750 according to the first embodiment.

FIG. 23D is a diagram for illustrating an operation direction when the coordinate conversion for the actuator 165 is carried out under the state in which the steering wheel 550 is rotated by the operation rotation angle −θ_(A) in the steering input/output operation device 750 according to the first embodiment.

FIG. 23E is a diagram for illustrating an operation direction when the coordinate conversion for the actuator 165 is carried out under the state in which the steering wheel 550 is rotated by the operation rotation angle −θ_(A) in the steering input/output operation device 750 according to the first embodiment.

FIG. 24 is a diagram for illustrating a ring-shaped switch part 960 of the steering input/output operation device 750 according to the first embodiment.

FIG. 25 is an exploded perspective view for illustrating a schematic configuration of an actuator 165A according to a second embodiment of the present invention.

FIG. 26 is a perspective view for illustrating the actuator 165A according to the second embodiment viewed from above, and is a perspective view without the detachment prevention member 201.

FIG. 27 is a cross sectional view for illustrating the actuator 165A taken on a plane containing the Z axis 10 and the rotation axis 12.

FIG. 28A is a perspective view for illustrating a holder 807.

FIG. 28B is a perspective view for illustrating a base 811 for supporting the holder 807.

FIG. 29A is a perspective view for illustrating a first variation of the holder 807.

FIG. 29B is a perspective view for illustrating the base 811 for supporting the first variation of the holder 807.

FIG. 30A is a perspective view for illustrating a second variation of the holder 807.

FIG. 30B is a perspective view for illustrating the base 811 for supporting the second variation of the holder 807.

FIG. 31A is a cross sectional view for illustrating a first loosely fitted member 804, a second loosely fitted member 808, and the holder 807 taken along a pair of coupling rods 806.

FIG. 31B is a cross sectional view for illustrating the first loosely fitted member 804, the second loosely fitted member 808, and the holder 807 taken along the pair of coupling rods 806.

FIG. 32 is a cross sectional view for illustrating, in an enlarged manner, a cross section of the first loosely fitted member 804 and the second loosely fitted member 808 taken along the pair of coupling rods 806.

FIG. 33 is a cross sectional view for illustrating the holder 807, the first loosely fitted member 804, and a plurality of second loosely fitted members 808 taken along the pair of coupling rods 806 in a case where the holder 807 includes the plurality of second loosely fitted members 808.

FIG. 34 is a perspective view for illustrating the actuator 165A under a state in which the operation part 850 is tilted by a predetermined angle with respect to the fixed unit.

FIG. 35A is a cross sectional view for illustrating the actuator 165A taken along the pair of coupling rods 806 under a state in which the operation part 850 is tilted by a first angle with respect to the fixed unit.

FIG. 35B is a cross sectional view for illustrating the actuator 165A taken along the pair of coupling rods 806 when the operation part 850 is in a neutral state.

FIG. 35C is a cross sectional view for illustrating the actuator 165A taken along the pair of coupling rods 806 under a state in which the operation part 850 is tilted by a second angle with respect to the fixed unit.

FIG. 36 is a cross sectional view taken along a first direction, for illustrating an actuator 165A including the holder 807 having one coupling rod 806.

FIG. 37 is a perspective view for illustrating the holder 807 having the one coupling rod 806.

FIG. 38 is a perspective view for illustrating the movable unit 180, which includes two pairs of drive magnets 401 and 402, and on which the operation part 850 is installed.

FIG. 39 is a perspective view for illustrating the actuator 165A viewed from above, and is a perspective view without the detachment prevention member 201.

FIG. 40A is a perspective view for illustrating the actuator 165A without the operation part 850.

FIG. 40B is a top view for illustrating the actuator 165A viewed in the Z axis 10 direction.

FIG. 41A is a perspective view for illustrating a magnetic yoke 204 sandwiched by a pair of bobbins 851.

FIG. 41B is a perspective view for illustrating a drive coil 303 for a third drive part.

FIG. 41C is a perspective view for illustrating the magnetic yoke 204, which is sandwiched by the pair of bobbins 851, and on which the drive coil 303 is wound.

FIG. 41D is a perspective view for illustrating a drive coil 302.

FIG. 41E is a perspective view for illustrating a coil unit 840 under a state in which the drive coil 302 is further wound on an outside of the drive coil 303 wound on the magnetic yoke 204.

FIG. 42 is a cross sectional view for illustrating the actuator 165A taken along the rotation axis 12.

FIG. 43A is a schematic view for illustrating a state in which the coil unit 840 is detached from the base 811.

FIG. 43B is a schematic view for illustrating a state in which the coil unit 840 is installed on the base 811.

FIG. 44 is a schematic view for illustrating, in an enlarged manner, a vicinity of an opening of the base 811 into which the coil unit 840 is to be inserted.

FIG. 45A is a cross sectional view taken along the rotation axis 12, for illustrating the actuator 165A including the detachment prevention member 201 in the neutral state.

FIG. 45B is a cross sectional view taken along the rotation axis 12, for illustrating the actuator 165A including the detachment prevention member 201 under a state in which the movable unit 180 is tilted in the direction of the rotation axis 12 by a predetermined angle with respect to the fixed unit.

FIG. 46 is a cross sectional perspective view for illustrating the actuator 165A including the detachment prevention member 201 under the state in which the movable unit 180 is tilted in the direction of the rotation axis 12 by the predetermined angle with respect to the fixed unit.

FIG. 47 is a top view for illustrating the actuator 165A including the detachment prevention member 201 viewed in the Z axis direction.

FIG. 48 is a cross sectional perspective view taken along the rotation axis 12, for illustrating the actuator 165A including an operation guide 881 in the neutral state.

FIG. 49 is a perspective view for illustrating the movable unit 180, which includes the operation guide 881, and on which the operation part 850 is installed.

FIG. 50 is a perspective view for illustrating, in an enlarged manner, a guide pin 882 and a coupling member 809 of the movable unit 180.

FIG. 51 is a perspective view for illustrating the holder 807 to which the operation guide 881 is fixed.

FIG. 52 are diagrams for illustrating how a profile of the actuator 165A can be lowered by arranging the operation guide 881 in a loosely fitted space.

FIG. 53 is a cross sectional perspective view for illustrating the actuator 165A according to a modification example of the second embodiment taken on a plane containing the Z axis 10 and the rotation axis 12.

DESCRIPTION OF EMBODIMENTS

For example, in an in-vehicle input/output device for receiving an operation of a driver, an intuitive operation friendly to the driver, a blind operation without requiring visual recognition of an operation part, and further, quality operation feeling for supporting a comfortable driving environment are required in terms of safety and security.

In general, many of multi-axis input/output operation parts are relatively easy to configure by combining, and thus are realized by combining a plurality of rotation mechanisms rotatable about axes. Moreover, each of the rotation mechanisms is coupled to a drive motor via a transmission mechanism, for example, gears (rack and pinion, and a worm wheel and a worm gear), and the operation part is configured to be rotationally driven about the respective rotation axes. Moreover, an encoder or the like is provided on a drive shaft of the drive motor, and a relative position displacement amount of the operation part is thus detected.

However, when this configuration is used, the weight of a movable operation part increases, and the size of the entire input device tends to increase. Moreover, rattle noise caused by a bearing gap and a play in an axial direction occur in a bearing of the rotation mechanism, which can be a cause for generating noise and inducing a mechanical and structural defect.

Moreover, a backlash needs to be provided in the transmission mechanism, for example, gears, interposing between the movable part and the drive motor. Therefore, a gap is increased by a wear and the like, which can cause a decrease in position precision of the operation part, generation of mechanical vibration and noise, and a decrease in the service life of the device.

Further, when a multi-axis input operation part is provided on a steering wheel, the axes of the input operation part also rotate along with the rotation of the steering wheel, and a direction to be operated thus changes, which may disturb the driver.

Such problems may exist in the technologies disclosed in Patent Documents No. 1 to No. 4. In view of such problems, the inventors of this application have arrived at a novel steering input/output operation device.

An input/output operation device according to this disclosure includes: an operation part including a surface to be operated by an operator; a movable unit including a loosely fitted space inside, a main body supporting the operation part and including a first loosely fitted surface exposed in the loosely fitted space, and at least one drive magnet; a fixed unit including a second loosely fitted surface in point- or line-contact with the first loosely fitted surface of the movable unit, a holder supporting the movable unit for free rotation, a base including a space for accommodating at least a part of the movable unit and supporting the holder, and at least one drive coil; a drive part to rotate the movable unit with respect to the fixed unit, the drive part including the at least one drive magnet and the at least one drive coil; and a detector to detect a position of the operation part in the fixed unit, in which one of the first loosely fitted surface and the second loosely fitted surface includes an inner peripheral surface formed into a recessed portion, and another one of the first loosely fitted surface and the second loosely fitted surface includes at least one protruded spherical surface.

According to a preferred embodiment, the holder includes at least one coupling rod extending from the base toward the loosely fitted space of the movable unit.

According to a preferred embodiment: when an XYZ Cartesian coordinate system having a center of rotation of the movable unit as an origin is defined, the operation part is positioned in a direction of a Z axis under a state in which the movable unit is not rotated with respect to the fixed unit; and the holder includes at least two coupling rods extending, in parallel with an XY plane, from the base toward the loosely fitted space of the movable unit.

According to a preferred embodiment, when an XYZ Cartesian coordinate system having a center of rotation of the movable unit as an origin is defined, the operation part is positioned in a direction of a Z axis under a state in which the movable unit is not rotated with respect to the fixed unit, and the holder includes at least two coupling rods extending, not in parallel with an XY plane, from a position of the base below the center of rotation of the movable unit toward the loosely fitted space of the movable unit.

According to a preferred embodiment: when an XYZ Cartesian coordinate system having a center of rotation of the movable unit as an origin is defined, the operation part is positioned in a direction of a Z axis under a state in which the movable unit is not rotated with respect to the fixed unit; and the holder includes one coupling rod extending substantially in parallel with the Z axis.

According to a preferred embodiment, the holder includes a magnet or a magnetic substance for attracting the first loosely fitted surface and the second loosely fitted surface by a magnetic force.

According to a preferred embodiment, the inner peripheral surface formed into the recessed portion includes a conical surface.

According to a preferred embodiment, a cone constructing the conical surface has a vertical angle from 70 degrees to 110 degrees.

According to a preferred embodiment: the another one of the first loosely fitted surface and the second loosely fitted surface is a protruded spherical surface; and a center of rotation of the movable unit matches a spherical center of the protruded spherical surface.

According to a preferred embodiment: the another one of the first loosely fitted surface and the second loosely fitted surface includes a plurality of protruded spherical surfaces; and a center of rotation of the movable unit is positioned below respective spherical centers of the plurality of protruded spherical surfaces under a state in which the movable unit is not rotated with respect to the fixed unit.

According to a preferred embodiment: when an XYZ Cartesian coordinate system having a center of rotation of the movable unit as an origin is defined, the operation part is positioned in a direction of a Z axis under a state in which the movable unit is not rotated with respect to the fixed unit; the drive part is capable of rotating the movable unit about a rotation axis parallel with an XY plane; and the detector includes a first detection part to detect a rotation angle about the rotation axis of the movable unit.

According to a preferred embodiment: the first detection part includes: a sensor element provided on the fixed unit; and a detection subject provided on the main body; and the sensor element and the detection subject are opposed to each other in the direction of the Z axis under the state in which the movable unit is not rotated with respect to the fixed unit.

According to a preferred embodiment: the first detection part includes: a detection subject provided on the main body; and a sensor element provided on the holder; and the sensor element and the detection subject are opposed to each other in the direction of the Z axis under the state in which the movable unit is not rotated with respect to the fixed unit.

According to a preferred embodiment, the holder includes a conductive wire, which is electrically connected to the sensor element, and is internally arranged in the holder.

According to a preferred embodiment, the detection subject is arranged on a circumference about the Z axis.

According to a preferred embodiment: the drive part includes a first drive part and a second drive part, which rotate the movable unit about an X axis and a Y axis of the XYZ Cartesian coordinate system, respectively; and each of the first drive part and the second drive part includes: a pair of drive magnets arranged symmetrically about the Z axis in the movable unit; and a coil unit including a pair of magnetic yokes arranged in the fixed unit so as to be opposed to the pair of drive magnets, respectively, and a pair of drive coils wound on the pair of magnetic yokes, respectively.

According to a preferred embodiment: the drive part further includes a third drive part to rotate the movable unit about the Z axis; the detector includes a second detection part to detect a rotation angle about the Z axis of the movable unit; and the third drive part includes two pairs of drive coils wound on the pairs of magnetic yokes of the first drive part and the second drive part, respectively, and uses the pair of drive magnets of each of the first drive part and the second drive part as drive magnets of the third drive part.

According to a preferred embodiment: the coil unit is detachably arranged on the base of the fixed unit, and abuts against the base by magnetic attraction forces between the pair of drive magnets and the pair of magnetic yokes; and the base includes a coil unit stopper to restrict a movement of the coil unit toward the pair of drive magnets.

According to a preferred embodiment, the input/output operation device further includes a detachment prevention member fixed to the base and including a restriction surface for restricting a movement of the main body so that the movable unit is not detached from the fixed unit.

According to a preferred embodiment, the input/output operation device further includes a detachment prevention member fixed to the base and including a restriction surface for restricting a movement of the main body so that the movable unit is not detached from the fixed unit, and the detachment prevention member includes an opening capable of receiving a part of the main body and/or the pair of drive magnets.

According to a preferred embodiment, the holder includes an operation guide to restrict the rotation of the movable unit with respect to the fixed unit.

According to a preferred embodiment, the operation guide is arranged in the loosely fitted space of the main body.

According to a preferred embodiment, a center of gravity of the movable unit supporting the operation part matches a center of rotation of the movable unit.

A steering wheel input/output operation device according to this disclosure includes an actuator, which includes an operation part capable of rotating independently about two axes, and is installed on a steering wheel. The steering wheel input/output operation device to convert coordinates in the actuator of the operation part to be used for input from the operation part and output to the operation part in accordance with a rotation angle of the steering wheel, and to control the input to and output from the operation part through use of the converted coordinates and a target position or a target direction in a coordinate system that is stationary independently of a rotation angle of the steering wheel.

According to a preferred embodiment: the two axes are an X axis and a Y axis orthogonal to the X axis; the actuator includes the operation part including a surface with which a finger comes in contact, a movable unit on which the operation part and at least one attraction magnet are installed, and which includes a recessed portion as a part thereof, a fixed unit including at least one magnetic substance and a protruded spherical surface to which the recessed portion of the movable unit loosely fits, the recessed portion of the movable unit and the protruded spherical surface being in point- or line-contact with each other by magnetic attraction forces between the at least one attraction magnet and the at least one magnetic substance, thereby supporting the movable unit about a spherical center of the protruded spherical surface as a center for free rotation, a first drive part to rotate the operation part about the X axis passing through the spherical center with respect to the fixed unit, a second drive part to rotate the operation part about the Y axis orthogonal to the X axis in a plane containing the X axis with respect to the fixed unit, and a first detection part to detect a first rotation angle about the X axis and a second rotation angle about the Y axis of the operation part with respect to the fixed unit; the spherical center of the protruded spherical surface is arranged at an origin of the X axis and the Y axis; and the actuator further includes a detection circuit part to generate a first rotation angle signal and a second rotation angle signal from the first rotation angle and the second rotation angle, a control calculation processing part to generate a first target rotation angle signal and a second target rotation angle signal based on the first rotation angle signal and the second rotation angle signal, and a drive circuit part to receive the first target rotation angle signal and the second target rotation angle signal to drive the first drive part and the second drive part.

According to a preferred embodiment, the actuator further includes a third drive part to rotate the movable unit about a Z axis, which is orthogonal to the X axis and the Y axis, and is a center axis of the operation part, with respect to the fixed unit, and a second detection part to detecting a rotation angle about the Z axis.

According to a preferred embodiment, the control calculation processing part generates current position coordinates of the operation part in a two-dimensional coordinate system corresponding to a movable range area of the operation part based on the first rotation angle signal and the second rotation angle signal to generate the first target rotation angle signal and the second target rotation angle signal based on position feedback control using a difference between target position coordinates and the current position coordinates.

According to a preferred embodiment: the control calculation processing part generates a drive signal having a predetermined drive waveform pattern; the drive circuit part receives the drive signal to generate a signal for driving the third drive part; and the movable unit is driven for vibration in a direction about the Z axis by the third drive part.

According to a preferred embodiment, the predetermined drive waveform pattern includes a vibration waveform including a frequency component in an audible range.

According to a preferred embodiment, the recessed portion of the movable unit is a protruded spherical surface, and the protruded spherical surface of the fixed unit is a recessed portion.

According to a preferred embodiment, the recessed portion of the movable unit includes a conical surface.

According to a preferred embodiment, the movable unit includes an opening part into which a holder bar fixing the protruded spherical surface is to be inserted, and a rotation angle of the movable unit is restricted by contact between the opening part and the holder bar.

According to a preferred embodiment: the input/output operation device further includes a detachment prevention member arranged in the fixed unit, the detachment prevention member including a restriction surface for restricting movement of the movable unit so as to prevent the movable unit from being detached from the fixed unit; and the restriction surface includes a recessed partial spherical surface having a center matching the spherical center.

According to a preferred embodiment: the first drive part includes a pair of first drive magnets arranged symmetrically about the Z axis in the movable unit, a pair of first magnetic yokes arranged in the fixed unit so as to be opposed to the pair of first drive magnets, respectively, and a pair of first drive coils wound on the pair of first magnetic yokes, respectively; the second drive part includes a pair of second drive magnets arranged symmetrically about the Z axis in the movable unit, a pair of second magnetic yokes arranged in the fixed unit so as to be opposed to the pair of second drive magnets, respectively, and a pair of second drive coils wound on the pair of second magnetic yokes, respectively; the pair of first drive magnets and the pair of first drive coils are arranged on one straight line passing through the spherical center of the protruded spherical surface; the pair of second drive magnets and the pair of second drive coils are arranged on another straight line passing through the spherical center of the protruded spherical surface and orthogonal to the one straight line; and respective positions in the Z axis direction of centers of the pairs of first drive magnets, the pairs of first drive coils, the pairs of second drive magnets, and the pairs of second drive coils substantially match a position of the spherical center of the protruded spherical surface.

According to a preferred embodiment, the third drive part includes third drive coils wound on the pair of first magnetic yokes and the pair of second magnetic yokes, respectively, and uses the pair of first drive magnets and the pair of second drive magnets as third drive magnets.

According to a preferred embodiment, the pair of first drive magnets and the pair of second drive magnets are coupled to each other by a pair of magnetic back yokes, respectively, and the pair of magnetic back yokes are arranged on a spherical center side of the movable part.

According to a preferred embodiment, the at least one magnetic substance is the pair of first magnetic yokes and the pair of second magnetic yokes.

According to a preferred embodiment, the at least one attraction magnet is the pair of first drive magnets and the pair of second drive magnets.

According to a preferred embodiment: under a state in which the movable unit is at a neutral position, the pair of first drive magnets and the pair of second drive magnets are arranged downward at a rotation angle A equal to or less than 45 degrees with respect to a horizontal surface passing through the spherical center and vertical to the Z axis; and the pair of first drive coils and the pair of first magnetic yokes, and the pair of second drive coils and the pair of second magnetic yokes are arranged to be rotated with respect to the fixed unit so as to be opposed to the pair of first drive magnets and the pair of second drive magnets, respectively.

According to a preferred embodiment, the rotation angle A is from 15 degrees to 25 degrees.

According to a preferred embodiment, the pair of first drive magnets and the pair of second drive magnets are each positioned inside the movable unit, and are each inhibited from being exposed on an external shape surface of the movable unit.

According to a preferred embodiment, the pair of first drive coils, the pair of second drive coils, and the third drive coils are each arranged inside the fixed unit, and are each inhibited from being exposed on an external shape surface of the fixed unit.

According to a preferred embodiment, the movable unit is made of a resin material.

According to a preferred embodiment, the movable unit is integrally formed together with the pair of first drive magnets and the pair of second drive magnets.

According to a preferred embodiment, the fixed unit is integrally formed together with the pair of first drive coils, the pair of second drive coils, the third drive coils, the pair of first magnetic yokes, and the pair of second magnetic yokes.

According to a preferred embodiment, a center of gravity of the movable unit matches the spherical center.

According to a preferred embodiment: the first detection part includes a first magnetic sensor fixed to the fixed unit, and an inclination angle detection magnet arranged in the movable unit; and the first magnetic sensor detects a magnetic force change caused by a rotation of the inclination angle detection magnet, thereby calculating two-dimensional rotation angles about the X axis and the Y axis.

According to a preferred embodiment, the first magnetic sensor and the inclination angle detection magnet are opposed to each other on the Z axis.

According to a preferred embodiment, the steering wheel input/output operation device further includes a magnetic bias magnet, which is opposed to the inclination angle detection magnet, arranged on the Z axis, and fixed to the fixed unit.

According to a preferred embodiment, the magnetic bias magnet also serves as a neutral position return magnet to return the movable unit to the neutral position.

According to a preferred embodiment, the first detection part includes an optical sensor fixed to the fixed unit, and a light detection pattern arranged on a part of the protruded spherical surface of the movable unit, and the optical sensor detects a change in light entering the optical sensor caused by a rotation of the light detection pattern, thereby calculating two-dimensional rotation angles about the X axis and the Y axis of the operation part.

According to a preferred embodiment, the optical sensor and the light detection pattern are positioned on the Z axis.

According to a preferred embodiment, when the movable unit is at the neutral position, the first magnetic sensor is arranged, on a plane orthogonal to the Z axis, on a straight line forming angles of 45 degrees with respect to a straight line connecting the pair of first drive magnets to each other, and to a straight line connecting the pair of second drive magnets to each other.

According to a preferred embodiment: the second detection part includes a pair of rotation detection magnets arranged symmetrically about the Z axis in the movable unit, and a pair of second magnetic sensors fixed to the fixed unit and fixed so as to be opposed to the pair of rotation detection magnets, respectively; and the pair of second magnetic sensors detects magnetic force changes caused by the rotations of the pair of rotation detection magnets, thereby calculating a rotation angle of the operation part.

According to a preferred embodiment, the pair of rotation detection magnets include magnets that are magnetized in two poles in directions parallel with a straight line passing through the spherical center and opposite to each other on a plane orthogonal to the Z axis.

According to a preferred embodiment, the restriction surface of the detachment prevention member and the external shape surface of the movable unit have a gap formed therebetween, and the gap is determined so that the recessed portion of the movable unit returns to the point- or line-contact state by the magnetic attraction forces even when the recessed portion is separated from the protruded spherical surface of the fixed unit.

According to a preferred embodiment, the steering wheel input/output operation device further includes a switch member having a ring shape, which is arranged at an upper portion of the fixed unit so as to surround a periphery of the movable unit.

With the steering input/output operation device and the input/output operation device according to this disclosure, by installing the input/output operation part having two or three operation axes and enabling two- or three-dimensional operation directions on the steering wheel, thereby converting the coordinates in the operation direction of the input/output operation part in accordance with an operation rotation angle of the steering wheel, the operation direction can always be maintained constant with respect to absolute coordinates formed of a horizontal axis and a vertical axis orthogonal to the horizontal axis at a neutral position of the steering wheel.

As a result, the operation direction of the input/output operation part can be fixed to, for example, a horizontal direction and a vertical direction regardless of the operation rotation angle of the steering wheel. Thus, determination and recognition of the operation direction of the input/output operation part can be extremely simplified for the driver during the rotation operation on the steering wheel, and a frequency of movement of the line of sight with respect to the input/output operation part can greatly be decreased.

Further, the spherical center of a spherical protruded part arranged in the fixed part and the center axis of the recessed contact surface having a conical shape, which is arranged in the movable part so as to be in contact with the protruded part, are arranged on the extension of the center axis of the operation part including a surface that comes in contact with fingers, and the movable part divided into two portions is configured to be joined so as to surround the spherical protruded part at the center. With this configuration, the input/output operation part can realize support of the center of gravity of the movable part on which the operation part is installed and greatly suppress mechanical resonance in a drive frequency region.

Further, a constant normal force is added by the magnetic attraction force that does not affect the rotation angle of the movable part in the pivot configuration constructed by the protruded part of the fixed part and the recessed contact surface of the movable part. With this configuration, friction load fluctuation with respect to the rotation angle can be decreased, thereby realizing satisfactory phase/gain characteristics in the drive frequency range.

Further, the detachment prevention restriction surface is arranged on the fixed part via the predetermined gap for permitting the rotation of the movable part. With this configuration, the prevention of detachment of the movable part caused by disturbance and the like, for example, vibration and impact, which has hitherto been a serious problem specific to a support structure by the magnetic attraction force, can be positively realized while avoiding the increase in size of the device.

Further, a gap is formed, which has a distance at which the recessed contact surface can be moved to the protruded part by the magnetic attraction force to restore the contact even under a state in which the recessed contact surface is disengaged from the protruded part by the distance of the gap. With this configuration, there can be provided such an extremely safe input/output operation device so as to immediately return to the original satisfactory support state even when the movable part momentarily detaches.

Further, the rotational inclination drive means about the X axis and the Y axis and the rolling drive means are constructed by two pairs of drive magnets that are arranged on the circumference about the Z axis, are orthogonal to each other, and are fixed to the fixed part, two pairs of drive coils and magnetic yokes arranged on the fixed part so as to be opposed to the drive magnets, respectively, and the height position arranged in the Z axis direction is set to be approximately equal to the height position of the spherical center of the protruded part. With this configuration, the center of gravity drive for the movable part is realized, and the mechanical resonance can be greatly suppressed in the drive frequency region.

Further, projected areas of the magnetic yokes opposed to the drive magnets are set to be approximately equal to one another. With this configuration, when the rotational inclination angle and the rotation angle of the movable part are 0 degrees, the neutral point of the movable part by magnetic springs of the magnetic yokes and the drive magnets can be maintained.

Further, the input/output operation part can realize a satisfactory frequency response characteristic and a high rotational inclination angle resolution. Thus, detection sensitivity for the operation on the movable unit by fingertips is very high, and flick input and swipe input often used on a portable terminal and character input can be detected.

A support configuration that is low in friction and is excellent in wear resistance can be realized by covering a surface layer portion of the recessed contact surface or the protruded part with a resin member.

A space of the pivot configuration constructed by the conical recessed contact surface and the protruded part to be loosely fitted to the recessed contact surface is filled with a viscous member or a magnetic fluid. With this configuration, an amplitude enhancement factor (Q factor) caused by a magnetic spring effect of the magnetic attraction forces generated between the drive magnets installed in the movable part and the magnetic yokes arranged in the fixed part and the Q factor of mechanical natural vibration can be decreased, resulting in a satisfactory control characteristic.

As described above, the present invention can realize satisfactory input/output control of the operation part in the frequency range of a wide band up to approximately 200 Hz by arranging at the origin the pivot support system for enabling the large rotational inclination drive equal to or more than ±25 degrees about the X axis and the Y axis and the rolling drive equal to or more than ±5 degrees. As a result, there is provided an input/output operation device capable of realizing a three-axis multi high-speed operation on the operation part about the X, Y, and Z axes, and allowing the operator to feel a novel tactile/force sense.

Further, the drive two-dimensional coordinates of the operation part formed of the X axis and the Y axis are electrically constructed by coordinate output of the magnetic sensors, and thus the two-dimensional coordinates, which are a drive target, can be corrected so as to cancel the operation rotation angle of the steering wheel by detecting the operation rotation angle of the steering wheel.

In this way, the operation direction of the input/output operation part can be maintained constant in the horizontal and vertical directions independently of the operation rotation angle of the steering wheel. With this configuration, determination and recognition of the operation direction of the driver can be simplified, and the input/output operation part capable of realizing the tactile/force sense enables the driver to perform a touch operation without looking at a steering wheel.

As a result, there can be provided a safe and secure steering input/output operation device capable of suppressing the movement of the line of sight of the driver during traveling as much as possible.

The input/output operation device according to embodiments of the present invention is preferably installed on a steering wheel. Herein, the input/output operation device may also be referred to as “actuator”, and the input/output operation device installed on a steering wheel may also be referred to as “steering wheel input/output operation device”. A description is now mainly given of the embodiments relating to the steering wheel input/output operation device. However, the input/output operation device according to the embodiments of the present invention is not only installed on the steering wheel, but may also be installed on, for example, a one-handle master controller of a train and a joystick controller of a game machine.

Referring to the attached drawings, a description is now given of an input/output operation device according to embodiments of the present invention. The same and similar components are denoted by the same reference numeral. The input/output operation device according to the embodiments of the present invention is not limited to ones exemplified herein. For example, one embodiment may be combined with another embodiment.

First Embodiment

A description is now given of a steering input/output operation device according to a first embodiment of the present invention.

With the steering wheel input/output operation device according to the first embodiment, by installing on a steering wheel an input/output operation part having two or three operation axes and enabling two- or three-dimensional operation directions, thereby converting coordinates in an operation direction of the input/output operation part in accordance with an operation rotation angle of the steering wheel, the operation direction can always be maintained constant with respect to the absolute coordinates formed of a horizontal axis and a vertical axis orthogonal to the horizontal axis at a neutral position of the steering wheel.

FIG. 18 is a diagram for schematically illustrating a steering input/output operation device 750 (FIG. 16) according to the first embodiment, which is installed on a steering wheel 550.

The steering wheel 550 is, for example, a steering wheel of, for example, a vehicle. The steering wheel 550 includes a rim 551 and a hub 552. The hub 552 is connected to the rim 551, and includes a rotation shaft 553. A rotation of the steering wheel 550 is transmitted to a steering column or the like arranged at a position of the rotation shaft 553 by a driver holding the rim 551 by his or her hands, and rotating the rim 551 about the rotation shaft 553. The rotation of the steering wheel 550 may be detected by a rotation sensor or the like arranged on the rotation shaft 553.

The steering input/output operation device 750 includes an actuator 165 arranged on the hub of the steering wheel 550. A detailed description is first given of the actuator 165.

FIG. 1 is an exploded perspective view of the actuator 165 in the steering input/output operation device 750 according to the first embodiment. FIG. 2 is an exploded perspective view of a movable unit 180 according to the first embodiment.

FIG. 3A and FIG. 3B are perspective views for illustrating magnetic back yokes 670 of the movable unit 180. FIG. 4A is a perspective view for illustrating the actuator 165 viewed from obliquely above. FIG. 4B is a perspective view for illustrating the actuator 165 without a detachment prevention member 201, which is a part of the components, viewed from obliquely above. FIG. 4C is a perspective view for illustrating the detachment prevention member 201, which is a part of the components, viewed from obliquely above. FIG. 5A is a top view viewed in a Z axis 10 direction without the detachment prevention member 201. FIG. 5B is a plan view viewed in a direction of a straight line 13 illustrated in FIG. 5A. FIG. 6 is a perspective view for illustrating the actuator 165 without an operation part 850 and an upper movable part 150. FIG. 7 is a perspective view for illustrating a fixed unit viewed from above. FIG. 8A is an exploded perspective view for illustrating a schematic configuration of the fixed unit. FIG. 8B is an exploded perspective view for illustrating a configuration of one drive means installed on the fixed unit. FIG. 9A and FIG. 9B are a top view, and a cross sectional view taken on a plane containing the Z axis 10 and a rotation axis 11, respectively, for illustrating the actuator 165 without the detachment prevention member 201. FIG. 10A and FIG. 10B are a top view, and a cross sectional view taken on a plane containing the Z axis 10 and a rotation axis 12, respectively, for illustrating the actuator 165 without the detachment prevention member 201. FIG. 11A and FIG. 11B are a top view, and a cross sectional view taken on a plane containing the Z axis 10 and the straight line 13, respectively, for illustrating the actuator 165 without the detachment prevention member 201. FIG. 12 is a perspective view viewed from above under a state in which the actuator 165 is rotated at a composite angle θ_(xy) of the same angles in a rotation direction 20 and a rotation direction 21 without the detachment prevention member 201. FIG. 13A and FIG. 13B are a top view without the detachment prevention member 201, and a cross sectional view taken on a plane containing the Z axis 10 and a straight line 14 without the detachment prevention member 201 under the state in which the actuator 165 is rotated at the composite angle θ_(xy) of the same angles in the rotation direction 20 and the rotation direction 21 without the detachment prevention member 201, respectively, for illustrating the actuator 165. FIG. 14A and FIG. 14B are a top view, and a cross sectional view taken on the plane containing the Z axis 10 and the rotation axis 11, respectively, for illustrating the fixed unit. FIG. 15 is a top view for illustrating a sensor board 502 of the actuator 165 viewed from above in the Z axis 10 direction. FIG. 16 is an overall configuration diagram for illustrating the steering input/output operation device 750 according to the first embodiment. FIG. 17 is a detailed block diagram for illustrating the configuration of the steering input/output operation device 750 according to the first embodiment.

The actuator 165 of the steering input/output operation device 750 includes the operation part 850, the movable unit 180 on which the operation part 850 is installed, and the fixed unit for supporting the movable unit 180.

The movable unit 180 is configured to freely rotate with respect to the fixed unit independently of one another in a rotation direction 22 rotating about the Z axis 10, in the rotation direction 21 orthogonal to the Z axis 10 and rotating about the rotation axis (X axis) 11 passing through a spherical center 70, and in the rotation direction 20 orthogonal to the Z axis 10 and rotating about the rotation axis (Y axis) 12 passing through the spherical center 70. The rotation axis 11 and the rotation axis 12 are orthogonal to each other. Therefore, the actuator 165 includes a first drive part and a second drive part for rotating (tilting) the movable unit 180 in the rotation direction 20 and the rotation direction 21, and a third drive part for rotating the operation part 850 in the rotation direction 22 with respect to the fixed unit. Each of the drive parts includes a combination of drive magnets, drive coils, and magnetic yokes. For example, the drive magnets are arranged in the movable unit 180, and the drive coils and the magnet yokes are arranged in the fixed unit.

The first drive part includes a pair of drive magnets 401, a pair of drive coils 301, and a pair of magnetic yokes 203 formed of a magnetic substance. Further, a pair of drive coils 303, which are the third drive part for rotational drive in the rotation direction 22 about the Z axis 10 described later, are wound inside the pair of drive coils 301. The drive magnets 401 and the magnetic yokes 203 have a partial circular tube shape having circumferential curved surfaces about the spherical center 70 as two side surfaces.

The second drive part includes a pair of drive magnets 402, a pair of drive coils 302, and a pair of magnetic yokes 204 formed of a magnetic substance. Further, the pair of drive coils 303, which are the third drive part for the rotational drive in the rotation direction 22 about the Z axis 10 described later, are wound inside the pair of drive coils 302. The drive magnets 402 and the magnetic yokes 204 also have a partial circular tube shape having circumferential curved surfaces about the spherical center 70 as two side surfaces.

A detailed description is now given of the drive of the movable unit 180 by the first, second, and third drive parts.

The actuator 165 includes detectors for detecting a rotation angle of the movable unit 180 on which the operation part 850 is installed with respect to the fixed unit, and a rotation angle of the movable unit 180 about the Z axis 10. Specifically, the actuator 165 includes a first detection part for detecting a two-dimensional rotation (inclination) angle of the movable unit 180, that is, the rotation angles in the rotation direction 20 and the rotation direction 21 and a second detection part for detecting an inclination angle in the rotation direction 22. The second detection part is not illustrated, but is constructed by a pair of rotation detection magnets arranged on both ends of the movable unit 180 about the spherical center 70 in a plane orthogonal to the Z axis 10 and a pair of magnetic sensors arranged on a base 200 so as to be opposed to the rotation detection magnets. However, when the steering input/output operation device 750 needs only to detect the forward and backward rotation directions in the rotation direction 22 as in the first embodiment, the detection can be sufficiently carried out by the first detection part, and the second detection part is not necessary.

The first detection part is constructed by an inclination angle detection magnet 406 installed on a bottom portion of the movable unit 180, a pair of magnetic sensors 501 a and 501 b, which are parallel with the straight line 13 that passes through the spherical center 70 and is orthogonal to the rotation axes 11 and 12 in a plane containing the rotation axes 11 and 12, and are arranged about the Z axis 10, and a pair of magnetic sensors 503 a and 503 b, which are parallel with the straight line 14 that passes through the spherical center 70 and is orthogonal to the straight line 13 in the plane containing the rotation axes 11 and 12, and are arranged about the Z axis 10. The magnetic sensors 501 a and 501 b, and 503 a and 503 b are mounted on the sensor board 502, and are fixed to the base 200 via coil springs 600 while being separated by a predetermined gap to the inclination angle detection magnet 406. A detailed description is given later of the detector.

The fixed unit includes the base 200. The base 200 includes a recessed portion to which at least a part of the movable unit 180 loosely fits. According to the first embodiment, an inside surface of the recessed part is constructed by a recessed spherical surface 200A. The base 200 further includes opening parts 200P and 200T, and a contact surface 200B.

As illustrated in FIG. 1, the actuator 165 is configured to use the pair of magnetic yokes 203, the pair of magnetic yokes 204, the four drive coils 303 for winding the magnetic yokes 203 and 204, the pair of drive magnets 401, and the pair of drive magnets 402 in order to rotate the movable unit 180 in the rotation direction 22.

As illustrated in FIG. 1, FIG. 8A, and FIG. 8B, the drive coils 303 have such a cross winding structure wound on each of the pair of magnetic yokes 203 and the pair of magnetic yokes 204 so as to be internally laminated and cross a coil winding direction of each of the drive coils 301 and the drive coils 302, and is inserted into and fixed to each of the opening parts 200P and 200T of the base 200. Specifically, after the drive coil 303 is wound on each of the pair of magnetic yoke 203 and the pair of magnetic yokes 204, magnetic yoke holders 203L and 203R are fixed to both side surfaces of each of the pair of magnetic yokes 203, magnetic yoke holders 204L and 204R are fixed to both side surfaces of each of the pair of magnetic yokes 204, and then, the pair of drive coils 301 and the pair of drive coils 302 are wound over the entirety. Further, the drive parts are installed on the fixed unit by fixing bottom parts of the magnetic yoke holders 203L and 203R and the magnetic holders 204L and 204R to attachment surfaces 200S of the base 200.

Preferably, the fixed unit including the base 200 is formed by resin. More preferably, the fixed unit including the base 200 is uniformly constructed by the drive coils 301 and the drive coils 303 wound on the pair of magnetic yokes 203, and the drive coils 302 and the drive coils 303 wound on the pair of magnetic yokes 204. Moreover, it is preferred that the drive coils wound on those magnetic yokes not be exposed on an inside surface of the base 200, that is, the recessed spherical surface 200A.

The movable unit 180 includes the upper movable part 150 and a bottom movable part 102. The upper movable part 150 incorporating the operation part 850 is fixed to the bottom movable part 102. The operation part 850 is positioned on the Z axis 10 in the movable unit 180. The operation part 850 has a substantially protruded shape, and a center (most protruded portion) of the protruded shape matches the Z axis 10. A camera or a light emitting element is not installed on the movable unit 180.

The bottom movable part 102 has a jar shape including a pair of opening parts 102W. The bottom movable part 102 has a protruded spherical surface 102R as an exterior shape having the spherical center 70 as a spherical center.

The protruded spherical surface 102R covers an entire exterior of the bottom movable part 102. More specifically, the bottom movable part 102 includes the pair of opening parts 102W through which a coupling rod 650 for coupling and fixing a protruded spherical surface part 651 having the spherical center 70, which is described later, as a spherical center to the base 200 can be inserted. The opening parts 102W are arranged at such positions and in such a size on the bottom movable part 102 that the coupling rod 650 does not come in contact with the bottom movable part 102 when the movable unit 180 rotates in angle ranges set in advance about the Z axis 10, the rotation axis 11, and the rotation axis 12. Further, the opening portions 102W are used as a stopper in the rotation direction 22 for the movable unit 180. Thus, the surface of a portion other than the opening portions 102W constructs the protruded spherical surface 102R.

The spherical center 70 of the protruded spherical surface part 651 and the protruded spherical surface 102R is located at the center of the bottom movable part 102, and is located at a bottom portion of the operation part 850.

The inclination angle detection magnet 406, the pair of drive magnets 401, and the pair of drive magnets 402 are arranged in the movable unit 180. The installed detection magnet and the drive magnets are preferably arranged inside the bottom movable part 102 from an opening portion 102H so as not to expose from the protruded spherical surface 102R. The bottom movable part 102 is preferably formed of resin, and the bottom movable part 102, the inclination angle detection magnet 406, the pair of drive magnets 401, and the pair of drive magnets 402 are uniformly formed.

As illustrated in FIG. 9B and FIG. 10B, the magnetic yokes 203 and the magnetic yokes 204 arranged inside the base 200 are formed of a magnetic substance. Therefore, the drive magnets 401 and the drive magnets 402 arranged inside the bottom movable part 102 so as to be opposed to each other are configured to function as attraction magnets, resulting in generation of magnetic attraction forces between the magnetic yokes and the drive magnets. Specifically, a magnetic attraction force F1 is generated between the magnetic yoke 203 and the drive magnet 401, and the magnetic attraction force F1 is generated between the magnetic yoke 204 and the drive magnet 402. Actually, a center line 18 of the magnetic yoke 203 and the drive magnet 401 and a center line 19 of the magnetic yoke 204 and the drive magnet 402 form a downward inclination angle θ_(d) with respect to the straight line 11 and the straight line 12, respectively. The inclination angle θ_(d) is preferably approximately from 15 degrees to 25 degrees.

The upper movable part 150 has a jar shape including an opening corresponding to the opening of the jar shape of the bottom movable part 102. The bottom movable part 102 has the protruded spherical surface 105R as the exterior shape having the spherical center 70 as the spherical center. Moreover, a recessed conical member 860 including a recessed conical surface 860 a is arranged inside the jar shape of the upper movable part 150. The recessed conical surface 860 a is opposed to the bottom movable part 102, and is in contact with the protruded spherical surface 651 a of the protruded spherical surface part 651 of the fixed unit. As a result, the movable unit 180 is loosely fitted to the fixed unit.

As illustrated in FIG. 9B, the magnetic attraction force F1 forms a normal force of the protruded spherical part 651 of the fixed unit against the recessed conical member 860. Moreover, the magnetic attraction forces F1 form a magnetic attraction force F2, which is a synthetic vector in the Z axis 10 direction. This balance of the forces is similar to a mechanical configuration in so-called “yajirobee (Japanese term meaning ‘balancing toy’)”. Therefore, the movable unit 180 can rotate in the three-axis directions in a very stable manner. Specifically, the movable unit 180 is pivotally supported by the fixed unit in a vicinity of the spherical center 70. This support is extremely stable, and is small in friction resistance. Thus, an extremely excellent dynamic characteristic can be realized. In other words, the movable unit 180 can rotate in the rotation directions 22, 21, and 20 about the Z axis 10, the rotation axis 11, and the rotation axis 12.

In particular, the movable unit 180 has the spherical shape constructed by the upper movable part 150 and the bottom movable part 102, and thus the spherical center 70 can be caused to match both the center and the position of the center of gravity of the movable unit 180. Therefore, the movable unit 180 may rotate in the rotation direction 20, the rotation direction 21, and the rotation direction 22 at respective moments approximately equal to one another. As a result, under any state in which the movable unit 180 has been rotated in the rotation direction 20, the rotation direction 21, and the rotation direction 22, the movable unit 180 can always be further rotated at approximately the same drive force, and the movable unit 180 can thus always be driven at a high precision.

Moreover, the spherical canter 70, that is, the rotation center of the movable unit 180 and the center of gravity of the movable unit 180 match each other, and the moments of the rotation of the movable unit 180 in the rotation direction 20, the rotation direction 21, and the rotation direction 22 are thus extremely small. Therefore, the movable unit 180 can be maintained in a neutral state, and can be rotated in the rotation direction 20, the rotation direction 21, and the rotation direction 22 by a small drive force. Thus, power consumption by the actuator 165 can be decreased in the steering input/output operation device 750. In particular, drive currents required to maintain the movable unit 180 in the neutral state can be made almost zero. Herein, a state in which the movable unit 180 is not rotated with respect to the fixed unit may also be referred to as “neutral state”.

As described above, according to the first embodiment, the movable unit 180 on which the operation part 850 is installed is supported in the concentrated manner at the spherical center 70, which is the position of the center of gravity. Thus, a load caused by the friction can be decreased, and a mechanical resonance can greatly be suppressed in the drive frequency region.

Moreover, the drive magnets 401 and the drive magnets 402 have partial circumferential curved surfaces, and can thus generate the constant magnetic attraction force F2 regardless of the magnitude of the rotation angles. The normal force between the protruded spherical part 651 of the fixed unit and the recessed conical member 860 is thus constant. As a result, fluctuation in the friction load caused by the rotation angle can be suppressed, and an excellent phase/gain characteristics can be realized in the drive frequency range.

Moreover, when the protruded spherical part 651 or the recessed conical member 860 is formed by a resin member excellent in slide property, the friction between the recessed conical surface 860 a and the protruded spherical surface 651 a that are in contact with each other can further be decreased, resulting in the support structure excellent in wear resistance.

The actuator 165 preferably includes the detachment prevention member 201 for restricting the movement of the movable unit 180 so that the movable unit 180 is not detached from the fixed unit (FIG. 1, FIG. 4A, and FIG. 4C). The detachment prevention member 201 includes a detachment prevention restriction surface 201A, and is configured to restrict the movement of the movable unit 180 by causing the upper movable part 150 of the movable unit 180 and the detachment prevention restriction surface 201A to abut against each other when the movable unit 180 moves so as to separate from the fixed unit (FIG. 4A).

A predetermined gap (not shown) is formed between a protruded spherical surface 150R of the upper movable part 150 and the detachment prevention restriction surface 201A of the detachment prevention member 201 so that the upper movable part 150 can freely rotate across an entire movable range with respect to the spherical center 70.

The detachment prevention restriction surface 201A preferably includes a recessed partial spherical surface having a center matching the spherical center 70. The detachment prevention member 201 is fixed to contact surfaces 200B of the base 200. A gap is formed between the protruded spherical surface 150R and the detachment prevention restriction surface 201A under a state in which the recessed conical surface 860 a of the recessed conical member 860 is in contact with the protruded spherical surface 651 a of the protruded spherical surface part 651 of the fixed unit. This gap is set to have a distance over which the state in which the recessed conical surface 860 a and the protruded spherical surface 651 a are in contact with each other is recovered by the magnetic attraction forces F1 even when the recessed conical surface 860 a is separated from the protruded spherical surface 651 a. In other words, even under a state in which the movable unit 180 moves upward by a distance equal to the gap, and the detachment prevention restriction surface 201A and the protruded spherical surface 150R come in contact with each other, the movable unit 180 can return to the original state in which the recessed conical surface 860 a and the protruded spherical surface 651 a are in contact with each other by the magnetic attraction forces F1. As a result, according to the first embodiment, there can be provided such an input/output operation device excellent in shock resistance as to immediately return to the original excellent support state by the magnetic attraction forces F1 even when the movable unit 180 is momentarily detached from a predetermined position.

A detailed description is now given of a structure for driving the movable unit 180 of the actuator 165.

As illustrated in FIG. 2, in the bottom movable part 102, the pair of drive magnets 401 are arranged symmetrically about the Z axis 10 so as to rotationally drive the movable unit 180 in the rotation direction 20, and the pair of drive magnets 402 are arranged symmetrically about the Z axis 10 so as to rotationally drive the movable unit 180 in the rotation direction 21. When the components arranged in the fixed unit are arranged “symmetrically about the Z axis 10”, the Z axis 10 in a neutral state of the movable unit 180 is considered as a reference.

The drive magnets 401 are magnetized in one pole so as to have a magnetic flux in the direction of the rotation axis 11. Similarly, the drive magnets 402 are magnetized in one pole so as to have a magnetic flux in the direction of the rotation axis 12.

As illustrated in FIG. 1, FIG. 9B, and FIG. 10B, and as described above, the pair of magnetic yokes 203 and the pair of magnetic yokes 204 are each arranged on the circumference of the base 200 about the Z axis 10 so as to be opposed to the pair of drive magnets 401 and the pair of drive magnets 402, respectively.

As illustrated in FIG. 1 and FIG. 8A, the drive coils 303 for winding the pair of magnetic yokes 203 are arranged for the pair of magnetic yokes 203 arranged on the base 200 in the direction of the rotation axis 11, respectively. Further, the drive coil 301 divided into four portions is arranged for the pair of magnetic yokes 203 outside each of the drive coils 303 so as to be orthogonal to the winding direction of the drive coils 303. The drive coil 301 is divided into four portions because the magnetic yoke 203 has the circumferential curved surface.

Similarly, the drive coils 303 for winding the pair of magnetic yokes 204 are arranged for the pair of magnetic yokes 204 arranged in the direction of the rotation axis 12 orthogonal to the rotation axis 11, respectively. Further, the drive coil 302 is arranged for the pair of magnetic yokes 204 outside each of the drive coils 303 so as to be orthogonal to the winding direction of the drive coil 303.

In other words, the drive parts for the rotation direction 20, the rotation direction 21, and the rotation direction 22 are independently arranged in a distributed manner on circumferences about the Z axis 10.

With this configuration, as illustrated in FIG. 9B and FIG. 10B, a magnetic gap between the magnetic yoke 203 and the drive magnet 401 and a magnetic gap between the magnetic yoke 204 and the drive magnet 402 can be evenly formed. Therefore, respective magnetic flux densities can evenly be increased, and drive efficiencies toward the rotation direction 20, the rotation direction 21, and the rotation direction 22 are greatly improved.

A description is now given of height positions of the respective drive parts in the Z axis 10 direction.

As illustrated in FIG. 14B, straight lines 36 and 37 are perpendicular to a center axis (not shown) of a circumferential curved surface passing through the spherical center 70 of the magnetic yokes 203 fixed to the base 200. Moreover, the straight lines 36 and 37 are perpendicular to a center axis (not shown) of a circumferential curved surface passing through the spherical center 70 of the drive magnets 401 of the movable unit in the neutral state. The straight lines 36 and 37 form a downward inclination angle θ_(p) equal to or less than 45 degrees with respect to the straight line 11. Although not shown, the magnetic yokes 204 and the drive magnets 402, which are fixed to the base 200, are similarly configured. In this way, the pairs of drive magnets 401 and 402 and the pairs of magnetic yokes 203 and 204 are configured as four petals about the Z axis 10 which are inclined by the downward inclination angle θ_(p) equal to or less than 45 degrees with respect to the horizontal surface containing the spherical center 70. Specifically, each of the pair of magnetic yokes 203 is sandwiched between the magnetic yoke holders 203L and 203R on both the side surfaces thereof, and as illustrated in FIG. 14A and FIG. 14B, the bottom portions of the magnetic yoke holders 203L and 203R are inserted into the opening portions 200P of the base 200. As a result, the magnetic yoke 203 is fixed to the attachment surface 200S.

Similarly, each of the pair of magnetic yokes 204 is sandwiched between the magnetic yoke holders 204L and 204R on both the side surfaces thereof, and the bottom portions of the magnetic yoke holders 204L and 204R are inserted into the opening portions 200T of the base 200. As a result, the magnetic yoke 204 is fixed to the attachment surface 200S.

As described above, the height of the fixed unit can be reduced, thereby realizing space saving and a low profile of the device, by setting the inclination angle θ_(p) to an angle equal to or less than 45 degrees. The rotation inclination angle θ_(p) and the rotation inclination angle θ_(r) are preferably from approximately 15 degrees to approximately 25 degrees, and are more preferably 20 degrees, for example.

The pair of drive magnets 401 receive a couple of electromagnetic forces (that is, Lorentz force) by supplying currents to the pair of drive coils 301, and the bottom movable part 102, that is, the movable unit 180, is driven to rotate in the rotation direction 20 about the X axis direction rotation axis 12. Similarly, the pair of drive magnets 402 receive a couple of magnetic forces by supplying currents to the pair of drive coils 302, and the movable unit 180 is driven to rotate in the rotation direction 21 about the Y axis direction rotation axis 11.

Further, the movable unit 180 in which the operation part 850 is installed can be rotated two-dimensionally by supplying currents simultaneously to the drive coils 301 and the drive coils 302.

FIG. 12, FIG. 13A, and FIG. 13B are diagrams for illustrating a state of rotations by the same angles in the rotation direction 20 and the rotation direction 21 by supplying equivalent currents simultaneously to the drive coils 301 and the drive coils 302, resulting in a rotation by the composite angle θ_(xy) in a straight line 13 direction forming 45 degrees with respect to the rotation direction 20 and the rotation direction 21.

Moreover, the movable unit 180 receives magnetic forces in the same rotation direction by supplying the currents to the four drive coils 303, and the movable unit 180 is rotationally driven in the rotation direction 22 about the Z axis 10.

Further, when currents are supplied to the four drive coils 303 under the state in which the movable unit 180 is rotated by the composite angle θ_(xy), the movable unit 180 is rotationally driven in a rotation direction 23 about a straight line 32.

As described above, the first embodiment employs a moving magnet drive method in which the drive magnets 401 and the drive magnets 402 are arranged in the movable unit 180. In this configuration, in general, there is such a conceivable problem that the weight of the movable unit 180 increases. However, this configuration eliminates necessity of suspension of drive wires to the movable unit 180.

Moreover, the center of gravity of the movable unit 180 and the rotation center point of the movable unit 180 match the spherical center 70, and thus, even when the weight is increased by installing the drive magnets, the moment of rotation of the movable unit 180 does not greatly increase. Therefore, according to the first embodiment, the advantage of the moving magnet drive method can be enjoyed while the problem of the increase in the weight is suppressed.

The rotation angle of the movable unit 180 in the rotation direction 22 about the Z axis 10 is restricted by the contact between the pair of opening portions 102W formed on the bottom movable part 102, and the coupling rod 650 fixed to the base 200. The coupling rod 650 is inserted into the pair of opening portions 102W, and thus the movable unit 180 rotates about the Z axis 10 without contact of the coupling rod 650 with walls for defining the opening portions 102W in a range of openings defined by the opening portions 102W. When the movable unit 180 starts to rotate beyond the range of the openings, the coupling rod 650 and the walls for defining the pair of opening portions 102W come in contact with each other, and the movable unit 180 cannot thus rotate any longer.

With the moving magnet drive method, there is such a great advantage that heat generated in the drive coils 301, the drive coils 302, and the drive coils 303 can be cooled by the base 200 via the magnetic yokes 203 and the magnetic yoke holders 203L and 203R and the magnetic yokes 204 and the magnetic yoke holders 204L and 204R. Further, such a point that the size and weight of the movable unit 180 can be decreased is advantageous for designing the rotation angles in the rotation direction 20 and the rotation direction 21 to be equal to or more than 20 degrees. In contrast, in a moving coil drive method, the size of the drive coils excessively increases, and the weight of the movable unit 180 may thus increase.

As described above, according to the first embodiment, all of center axes of the operation part 850, the upper movable part 150, the bottom movable part 102, the inclination angle detection magnet 406 of the movable unit 180, the detachment prevention restriction surface 201A arranged in the fixed unit, and the two pairs of the rotation drive parts arranged in the base 200 pass through the spherical center 70, which is a support center as well as a drive center.

Thus, the center of gravity of the movable unit 180 matches the spherical center 70, and the movable unit 180 can be supported at the center of gravity. Further, the rotation drive about the three axes passing through the center of gravity and orthogonal to one another can be realized. Moreover, the movable unit 180 can be prevented from being detached.

The actuator 165 of the steering input/output operation device 750 may include a viscous member (not shown) in order to decrease an amplitude enhancement factor (Q factor) of the movable unit 180. In this case, as illustrated in FIG. 9B and FIG. 10B, the viscous member is arranged between the recessed conical surface 860 a of the recessed conical member 860 installed on the upper movable part 150 and the protruded spherical surface 651 a of the protruded spherical surface part 651 of the fixed unit. As a result, it is possible to decrease the amplitude enhancement factor (Q factor) of a vibration caused by the magnetic spring effect of the magnetic attraction force fluctuation, which is generated with respect to the rotation angles in the rotation directions 21 and 22 and the rotation angle in the rotation direction 22 between the drive magnets 401 and the drive magnets 402 arranged in the movable unit 180 and the magnetic yokes 203 and the magnetic yokes 204 arranged in the base 200, and to decrease the Q factor of a mechanical natural vibration. Thus, a satisfactory control characteristic can be obtained.

A description is now given of the detection of the rotation angle (inclination) of the movable unit 180.

As illustrated in FIG. 1, FIG. 2, FIG. 11A, FIG. 11B, and FIG. 15, the actuator 165 includes the detectors for detecting the rotation angles of the movable unit 180 in which the operation part 850 is installed and the rotation angle of the movable unit 180 about the Z axis 10 with respect to the fixed unit.

Specifically, the actuator 165 includes the first detection part for detecting the two-dimensional rotation angle of the movable unit 180, that is, the rotation angles thereof in the rotation direction 20 and the rotation direction 21 and the second detection part for detecting the rotation angle of the movable unit 180 in the rotation direction 22.

The second detection part is not shown, but is constructed by a pair of rotation detection magnets provided on both ends of the movable unit 180 about the spherical center 70 in the plane orthogonal to the Z axis 10 and a pair of magnetic sensors provided on the base 200 so as to be opposed to the rotation detection magnets.

However, when the steering input/output operation device 750 needs only to detect the forward and backward rotations in the rotation direction 22 as in the first embodiment, the detection can be sufficiently carried out by the first detection part, and the second detection part is not necessary.

The first detection part is constructed by the inclination angle detection magnet 406 installed in the bottom portion of the movable unit 180, the pair of magnetic sensors 501 a and 501 b, which are parallel with the straight line 13 that passes through the spherical center 70 and is orthogonal to the rotation axes 11 and 12 in the plane containing the rotation axes 11 and 12, and are arranged about the Z axis 10 and the pair of magnetic sensors 503 a and 503 b, which are parallel with the straight line 14 that passes through the spherical center 70 and is orthogonal to the straight line 13 in the plane containing the rotation axes 11 and 12, and are arranged about the Z axis 10.

As illustrated in FIG. 15, the magnetic sensors 501 a and 501 b, and 503 a and 503 b are mounted on the sensor board 502, and are fixed to the base 200 via the coil springs 600 while being separated by the predetermined gap to the inclination angle detection magnet 406.

A magnetic bias magnet 508 for applying a magnetic bias is fixed at a center position of the sensor board 502. As illustrated in FIG. 103, the magnetic bias magnet 508 is opposed to the inclination angle detection magnet 406 on the Z axis when the movable unit 180 is in the neutral state. This magnetic bias magnet 508 may decrease the influence of magnetic leakage caused by the pair of drive magnets 401 and the pair of drive magnets 402 when the movable unit 180 is tilted, by enhancing magnetic coupling formed by the magnetic bias magnet 508 and the inclination angle detection magnet 406 fixed to the movable unit 180. Further, the action of the magnetic spring of returning the movable unit 180 to the neutral position can be generated by using such an effect that the magnetic coupling of the magnetic bias magnet 508 and the inclination angle detection magnet 406 is maximized when the movable unit 180 is at the neutral position.

A detailed description is now given of the detection of the rotation angles of the movable unit 180 in the rotation direction 20 and the rotation direction 21 of the movable unit 180.

The sensor board 502 is fixed to the base 200 by using adjustment screws (not shown) 601 via the coil springs 600 at three locations, and the relative inclination and distance between the inclination detection magnet 406 and the magnetic sensors 501 a, 501 b, 503 a, and 503 b are changed by rotating the three adjustment screws 601, respectively. As a result, inclination output signals of the magnetic sensors 501 a and 501 b, and the magnetic sensors 503 a and 503 b can optimally be adjusted.

As illustrated in FIG. 11B, FIG. 13A, and FIG. 13B, the magnetic sensors 501 a and 501 b are arranged in parallel with the straight line 13, and the magnetic sensors 503 a and 503 b are arranged in parallel with the straight line 14 in order to eliminate influence of magnetic fields generated by the drive currents of the drive coils 301 and the drive coils 302.

The magnetic sensors 501 a and 501 b arranged in parallel with the straight line 13 are configured to compose and detect magnetic force changes of the inclination angle detection magnet 406 generated by the rotation operations of the movable unit 180 in the rotation direction 20 and the rotation direction 21 as a two-axis component, and further, the S/N of the detection signals is increased by differential detection of the detection output of the magnetic sensors 501 a and 501 b.

Moreover, the magnetic sensors 503 a and 503 b arranged in parallel with the straight line 14 are configured to compose and detect magnetic force changes of the inclination angle detection magnet 406 generated by the rotation operations of the movable unit 180 in the rotation direction 20 and the rotation direction 21 as a two-axis component, and further, the S/N of the detection signals is increased by differential direction of the detection output of the magnetic sensors 503 a and 503 b.

Further, as in the first embodiment, when the steering input/output operation device 750 needs to detect only the forward/backward rotation in the rotation direction 22, the forward/backward rotation in the rotation direction 22 can be detected by differential detection between the magnetic sensors 501 a and 503 b and differential detection between the magnetic sensors 501 b and 503 a.

As described above, according to the first embodiment, the movement of the inclination angle detection magnet 406 with respect to the rotation angle can be decreased by decreasing the gap between the inclination angle detection magnet 406 and the spherical center 70. Thus, an arrangement projection area of the magnetic sensors 501 a and 501 b and the magnetic sensors 503 a and 503 b can be decreased.

According to the first embodiment, the detectors include the magnetic sensors 501 a and 501 b, the magnetic sensors 503 a and 503 b, and the inclination angle detection magnet 406, but the detectors may be constructed by other configurations. For example, the detectors may include, on the Z axis 10, an optical sensor arranged in the fixed unit, and an optical detection pattern arranged in the movable unit 180. The optical detection pattern rotates as a result of the rotation of the movable unit, and the light that enters the optical sensor thus changes. The two-dimensional rotation angle can be calculated by the optical sensor detecting the change in the light.

As described above, with the actuator 165 of the steering input/output operation device 750 according to the first embodiment, the structure of pivotally supporting the movable unit at the spherical center is arranged on the Z axis of the operation part, and the two pairs of drive parts are arranged on the circumference about the spherical center on the plane perpendicular to the Z axis and passing through the spherical center. As a result, the constant normal force can be applied by the magnetic attraction force hardly influenced by the rotation angle of the movable unit. Further, the structure for decreasing the friction load fluctuation depending on the rotation angle and supporting/driving the movable unit at the center of gravity is realized. Moreover, the mechanical resonance can greatly be suppressed in the drive frequency range.

Moreover, in order to prevent the detachment of the movable unit 180 due to disturbance and the like, for example, vibrations and impacts, which have hitherto been a serious problem specific to a support structure using the magnetic attraction force, the detachment prevention restriction surface is arranged on the detachment prevention member arranged in the fixed unit via the predetermined gap for permitting the rotation. As a result, the detachment of the movable unit can be positively prevented while avoiding the increase in size of the device.

Moreover, the position of the detachment prevention restriction surface is determined so that, even when the movable unit is detached up to a state in which the protruded spherical surface of the movable unit abuts against the detachment prevention restriction surface of the fixed unit, the protruded spherical part of the fixed unit and the recessed conical member of the movable part are again brought in point-contact with each other by the magnetic attraction force. Therefore, there can be provided an input/output operation device so extremely excellent in the shock resistance as to immediately return to the original satisfactory support state even when the movable unit momentarily detaches.

Moreover, the height position in the Z axis direction at which the drive part is arranged is at the height position rotated downward from the horizontal plane containing the spherical center. Therefore, the center of gravity of the movable unit can be driven to match the spherical center, and the profile can be lowered.

Moreover, a support structure low in the friction and excellent in the wear resistance can be realized by forming the movable part and the base by resin materials or covering the surface portions of the protruded spherical part of the fixed unit and the recessed conical member with resin materials.

Moreover, the amplitude enhancement factor (Q factor) of the vibration by the magnetic spring effect, which is caused by the magnetic attraction force fluctuation generated between the drive magnets arranged in the movable unit and the magnetic yokes arranged in the fixed unit, and the Q factor of the mechanical natural vibration can be decreased by filling a viscous member in the gap formed by the recessed conical surface of the upper movable part and the protruded spherical surface of the fixed unit. Thus, a satisfactory control characteristic can be obtained.

Thus, with the actuator of the input/output operation device according to the first embodiment, for example, for an X axis and a Y axis orthogonal to each other, the movable unit can be rotated over a large angle equal to or more than ±20 degrees about the X axis and about the Y axis, and the movable unit can be rotated over a large angle equal to or more than ±5 degrees about a Z axis orthogonal to the X axis and the Y axis. Moreover, satisfactory vibration correction control can be realized in a frequency range in a wide band up to approximately 200 Hz. As a result, the rotation operations of the operation part about the X, Y, and Z axes is realized, and the compact and robust detachment prevention structure is provided. Thus, the actuator for the input/output operation device high in the shock resistance against shocks from the outside, for example, vibrations and a drop impact, is realized.

Referring to FIG. 16 and FIG. 17, a description is now given of an operation of the steering input/output operation device 750 including the above-mentioned actuator 165 according to the first embodiment.

As illustrated in FIG. 16, the steering input/output operation device 750 according to the first embodiment includes the actuator 165, a drive circuit part 350, a detection circuit part 360, and a control calculation processing part 94. The steering input/output operation device 750 may further include a display calculation processing part 700 for displaying target position coordinates of the actuator 165.

The position of the operation part 850, which is in contact with fingers, of the actuator 165 of the steering wheel input/output operation device 750 can be caused to follow target position coordinates 920 displayed on the display calculation processing part 700. FIG. 17 is a detailed block diagram for illustrating the control of the steering wheel input/output operation device 750.

As illustrated in FIG. 17, the drive circuit part 350 includes drive circuits 96 a, 96 b, and 96 r. The detection circuit part 360 includes amplification circuits 98 x and 98 y for the movable unit 180.

An x coordinate 900 and a y coordinate 901 of the target position coordinates 920 displayed on the display calculation processing part 700 specifically correspond to target rotation angles of the movable unit 180 in the rotation direction 20 and the rotation direction 21, respectively.

Moreover, as illustrated in FIG. 16, the rotation axis 11 and the rotation axis 12 of the actuator 165 are tilted by 45 degrees with respect to a horizontal reference HS in the display calculation processing part 700. This is because, as described above, the influence of the magnetic fields generated by the drive currents of the drive coils 301 and the drive coils 302 is eliminated by arranging (in the first embodiment, while shifting by 45 degrees), on the projection plane viewed in the Z axis direction, the magnetic sensors 501 a and 501 b and the magnetic sensors 503 a and 503 b in a region other than a projection region of the drive coils 301, the magnetic yokes 203, the magnetic yoke holders 203L and 203R, the drive coils 302, the magnetic yokes 204, and the magnetic yoke holders 204L and 204R. Thus, when the movable unit 180 is rotated in the straight line 14 direction, which is the horizontal reference HS direction of the display calculation processing part 700, drive in the straight line 14 direction (corresponding to the X axis direction of the display calculation processing part 700) is enabled by supplying currents to both of the drive coils 301 and the drive coils 302. Moreover, when the movable unit 180 is rotated in the straight line 13 direction, which is a direction perpendicular to the horizontal reference HS, drive in the straight line 13 direction (corresponding to the Y axis direction of the display calculation processing part 700) is enabled by supplying currents to both of the drive coils 301 and the drive coils 302.

As a result, when the drive coils 301 and the drive coils 302 that are rotated by 45 degrees with respect to the x coordinate 900 and the y coordinate 901 of the position coordinates 920 at θ_(g)=45° are driven in the display calculation processing part 700 illustrated in FIG. 16, the rotation angle of the movable unit 180 about the rotation axis 12 and the rotation axis 11 is a rotation angle of 1/√2 times.

Referring to FIG. 17, a description is now given of an operation of position control drive for the movable unit 180, which is output from the display calculation processing part 700 to the actuator 165 via the control calculation processing part 94.

As illustrated in FIG. 17, the x coordinate 900 and the y coordinate 901 of the target position coordinates 920 in the display calculation processing part 700 are output as digitized target position coordinate signals 80 x and 80 y, respectively, and the target position coordinate signals 80 x and 80 y are input to the control calculation processing part 94.

The control calculation processing part 94 is configured to generate target rotation angle signals 84 a and 84 b based on the target position coordinate signals 80 x and 80 y received from the display calculation processing part 700 and rotation angle signals 88 x and 88 y received from the detection circuit part 360, thereby carrying out feedback control for the angles about the rotation axes 11 and 12. Specifically, first, the control calculation processing part 94 carries out processing of converting the target position coordinates to the rotation angle of the actuator 165. On this occasion, correction for the displacement of 45 degrees on the projection plane of the magnetic sensors 501 a and 501 b and the magnetic sensors 503 a and 503 b from the drive coils 301 and the drive coils 302 is also carried out. As a result, the target rotation angles in the rotation direction 20 and the rotation direction 21 corresponding to the x coordinate 900 and the y coordinate 901 are successively calculated.

Moreover, the position displacement correction processing for the target position carried out by the control calculation processing part 94 is position closed control in which the movable unit 180 of the actuator 165 is driven so as to suppress a position error in accordance with the target position coordinate signals 80 x and 80 y of the x coordinate 900 and the y coordinate 901 output from the display calculation processing part 700. Thus, the control calculation processing part 94 is configured to successively output the target rotation angle signals 84 a and 84 b as optimal digital vibration correction amounts including frequency response characteristics, phase compensation, gain compensation of the actuator 165, and the like.

The target rotation angle signals 84 a and 84 b are converted to analog signals by DA converters 95 a and 95 b, and are input as analog target rotation angle signals 85 a and 85 b to a drive circuit 96 a about the rotation axis 11 and a drive circuit 96 b about the rotation axis 12.

Meanwhile, in the actuator 165, a rotation angle signal 86 y corresponding to the rotation direction 20, namely, the Y axis direction perpendicular to the HS of the display calculation processing part 700, is output from the magnetic sensors 501 a and 501 b for detecting the rotation angle of the movable unit 180 with respect to the base 200 and a rotation angle signal 86 x corresponding to the rotation direction 21, namely, the HS direction of the display calculation processing part 700 is output from the magnetic sensors 503 a and 503 b. Noise components and DC drift components are removed from the rotation angle signals 86 x and 86 y by analog circuits 97 x and 97 y, resulting in rotation angle signals 87 x and 87 y. Further, the rotation angle signals 87 x and 87 y are amplified by the amplification circuits 98 x and 98 y, resulting in the rotation angle signals 88 x and 88 y having appropriate amplitudes, and digitized rotation angle signals 89 x and 89 y digitized by AD converters 99 x and 99 y are successively input to the control calculation processing part 94.

The position closed control described above is carried out by calculating, by the control calculation processing part 94, the difference (position error) between the target position coordinates 920 based on the target position coordinate signals 80 x and 80 y and the current position coordinates based on the rotation angle signals 89 x and 89 y of the movable unit 180, and successively outputting the target rotation angle signals 84 a and 84 b based on the position error anew.

Moreover, in the control calculation processing part 94, the rotation angle signals 89 x and 89 y of the movable unit 180 are inversely converted to those in the position coordinate system displayed in the display calculation processing part 700, and are output as feedback position coordinate signals 82 x and 82 y to the display calculation processing part 700.

The drive circuits 96 a and 96 b are controlled in a feedback system for feeding back the rotation angle signals 89 x and 89 y to the target rotation angle signals 85 a and 85 b. Thus, when a force from the outside by the fingers does not act on the movable unit 180, such control is carried out that angles in the rotation direction 20 and the rotation direction 21 of the movable unit 180 are constant so as to attain predetermined rotation angle positions.

Thus, the drive signals for driving the drive coils 301 and the drive coils 302 are output to the drive circuits 96 a and 96 b based on the target position coordinate signals 80 x and 80 y of the display calculation processing part 700, the target rotation angle signals 85 a and 85 b, and the rotation angle signals 89 x and 89 y of the movable unit 180. As a result, the feedback control for the angle position is carried out for the target position coordinates 920 in the steering input/output operation device 750, and the movable unit 180 of the actuator 165 is driven so that the feedback position coordinate signals 82 x and 82 y are equal to the target position coordinate signals 80 x and 80 y. As a result of this procedure of drive control, the position tracking control of the operation part 850 of the movable unit 180 is carried out, and a satisfactory tactile/force sense operation can be realized.

Referring to FIG. 17, a description is now given of drive control operation in the rotation direction 22, which is output from the display calculation processing part 700 to the actuator 165.

The movable unit 180 is also driven in the rotation direction 22 about the Z axis 10. This operation is mainly a vibration of the movable unit 180 by a drive signal, for example, a sinusoidal wave, a square wave, a pulse wave, and a triangular wave. According to the first embodiment, this operation is carried out based on open control.

The control calculation processing part 94 is configured to generate a drive signal 84 r having a predetermined drive waveform pattern based on a selection signal 80 r received from the display calculation processing part 700, thereby driving the movable unit 180 to vibrate about the Z axis 10. Therefore, the control calculation processing part 94 stores various drive waveforms for providing predetermined vibration modes. The drive waveform patterns include a drive waveform pattern that is considered to be appropriate for presenting a tactile operation function, and has a high frequency characteristic represented as a stick/slip feeling and a click feeling.

The display calculation processing part 700 is configured to output the selection signal 80 r for selecting the drive waveform pattern to the control calculation processing part 94. The control calculation processing part 94 is configured to select the predetermined drive waveform pattern based on the selection signal 80 r, and output the digitized drive signal 84 r to a DA converter 95 r. An analogized drive signal 85 r is input to a drive circuit 96 r for the rotation direction 22. As a result, the movable unit 180 is driven to vibrate in the rotation direction 22, thereby providing a vibration feeling to the fingertip of the operator, or a tactile feeling of stimulating Pacinian corpuscles inside the fingertip via the operation part 850.

The vibration of the movable unit 180 in the rotation direction 22 is formed of, for example, a repetition of a motion of a rotation toward the right direction by a predetermined angle about the Z axis 10 and an inverse rotation toward the left direction by a predetermined angle when the movable unit 180 is viewed from above.

Moreover, the movable unit 180 may be driven in the rotation direction 22 by a drive signal including a frequency component in an audible range in addition to the vibration drive. As a result, the movable unit 180 vibrates at a frequency in the audible range, and a sound can be output from the actuator 165.

As described above, the input/output operation device according to the first embodiment, which has the configuration in which the operation part 850 of the movable unit 180 is two-dimensionally controlled in the angles about the rotation axes 11 and 12 and driven to vibrate in the rotation direction 22, can be used as the human-machine interface (HMI) used in various fields.

Referring to FIG. 17, a description is now given of an operation of detecting the rotation angles of the movable unit 180, which are output from the actuator 165 to the display calculation processing part 700 via the control calculation processing part 94.

Due to the configuration of the actuator 165, when the movable unit 180 is two-dimensionally rotated about the rotation axes 11 and 12 by the fingertip via the operation part 850, the magnetic sensors 501 a and 501 b and the magnetic sensors 503 a and 503 b function as sensors for detecting the rotation angles about the rotation axes 11 and 12 of the movable unit 180.

Further, the actuator 165 has a satisfactory frequency response characteristic and a high rotation angle resolution, and hence the operation detection sensitivity of the movable unit 180 for the fingertip is very high. Thus, the actuator 165 can detect the flick input, the swipe input, and a character input often used on a portable terminal.

The rotation angle signal 86 y corresponding to the rotation direction 20, that is, the y axis direction perpendicular to HS of the display calculation processing part 700, is output from the magnetic sensors 501 a and 501 b, and the rotation angle signal 86 x corresponding to the rotation direction 21, that is, the HS direction, which is the horizontal direction of the display calculation processing part 700, is output from the magnetic sensors 503 a and 503 b.

Noise components and DC drift components are removed from the rotation angle signals 86 x and 86 y by the analog circuits 97 x and 97 y, resulting in the rotation angle signals 87 x and 87 y. Further, the rotation angle signals 88 x and 88 y having the appropriate output values are acquired by the amplification circuits 98 x and 98 y, and the rotation angle signals 89 x and 89 y digitized via the AD converters 99 x and 99 y are successively input to the control calculation processing part 94. The control calculation processing part 94 stores various input detection waveform patterns including special input pattern modes, for example, the flick input and the swipe input, and is configured to select, by comparison and detection, which input pattern mode the rotation angle signals 89 x and 89 y, which are the input waveforms, correspond to, and output the selected input pattern mode as a selection signal 82 s to the display calculation processing part 700.

A description is now given of an operation of rotation detection in the rotation direction 22 of the movable unit 180. According to the first embodiment, a magnetic sensor dedicated for the rotation detection is not provided. However, as described above, when the movable unit 180 is rotated in the rotation direction 20 and the rotation direction 21 as well as rotated in the rotation direction 22, whether the movable unit 180 is operated rightward or leftward in the rotation direction 22 can be detected from a relative output difference between the rotation angle signals 89 x and 89 y.

As a result, the operation part 850 installed in the movable unit 180 can be moved to rotate in the rotation direction 20 and the rotation direction 21 while being turned rightward or leftward, and thus alternative input for a pinch input for zooming in/out a screen and scroll input, which is often used on a portable terminal, can be detected. For example, the control calculation processing part 94 may detect the difference between the rotation angle signals 89 x and 89 y, and output the result to the display calculation processing part 700 as a rotation direction difference detection signal 82 r.

A description is now given of control carried out when the actuator 165 is installed on the steering wheel 550. As illustrated in FIG. 19A to FIG. 19D, when the rotation angle of the steering wheel 550 is at a neutral position (0 degrees), the straight line 14 and the straight line 13 of the actuator 165 installed on the steering wheel 550 match a horizontal direction Xo and a vertical direction Yo for a vehicle in which the steering wheel 550 is installed and a driver operating the steering wheel. Therefore, the coordinates of the display calculation processing part 700 described above and the coordinates of the actuator 165 match each other, and as described with reference to FIG. 16 and FIG. 17, the target position can be set, and the feedback control can be carried out. In other words, a target position or a target direction in the coordinate system of the display calculation processing part 700 stationary in the vehicle in which the steering wheel 550 is installed match a target position or a target direction in the coordinates of the actuator 165. As illustrated in FIG. 19A and FIG. 19B, an operation in a upward direction 51 and an operation in a downward direction 52 in the vertical direction of the operation part 850 installed on the movable unit 180 of the actuator 165 match the upward direction and the downward direction in the Y axis direction in the coordinates of the display calculation processing part 700. Similarly, as illustrated in FIG. 19C and FIG. 19D, an operation in a rightward direction 53 and an operation in a leftward direction 54 in the horizontal direction of the operation part 850 installed on the movable unit 180 of the actuator 165 match the rightward direction and the leftward direction in the X axis direction in the coordinates of the display calculation processing part 700.

However, as illustrated in FIG. 20A, when the steering wheel 550 is rotated, the straight line 14 and the straight line 13 of the actuator 165 do not match the horizontal direction Xo and the vertical direction Yo. As illustrated in FIG. 20B to FIG. 20E, operation directions 55 and 56 along the vertical direction of the actuator 165 and operation directions 57 and 58 are different from the horizontal direction Xo and the vertical direction Yo of the vehicle on which the steering 550 is installed.

Therefore, as illustrated in FIG. 19A to FIG. 19D, when a target direction is defined in the coordinate system of the display calculation processing part 700 so as to move the operation part 850 in the horizontal direction or the vertical direction (the direction of the straight line 14 or the straight line 13) while a state in which the rotation angle of the steering wheel 550 is 0 degrees is set as a reference, the driver or the like is required to carry out an operation in a direction (the operation direction 55 or 56 or the operation direction 57 or 58) different from the horizontal direction or the vertical direction displayed on the display calculation processing part 700.

According to the first embodiment, in order to solve this mismatch, the coordinates in the actuator 165 are converted depending on the rotation angle of the steering wheel so that the coordinates match the coordinates of the display calculation processing part 700, which is the stationary coordinate system.

Referring to FIG. 21, a description is now given of the coordinate conversion of the actuator 165 when the steering wheel 550 is rotated.

When the target position displayed on the display calculation processing part 700 is a point A in the coordinate system (X_(o)-Y_(o) coordinate system) formed of the horizontal direction X0 of the vehicle and the vertical direction Y0 thereof orthogonal to the horizontal direction X0 when the steering 550 is at the neutral position, the coordinates of the point A are acquired as (R cos θ₀, R sin θ₀) where R is a radius from the rotation center.

As illustrated in FIG. 22A, when the steering wheel 550 is rotated leftward by θ_(A), the coordinates (X_(A)-Y_(A) coordinate system) of the actuator 165 rotate leftward by θ_(A). Thus, the coordinates of the point A displayed on the display calculation processing device 700 are converted to (R cos(θ₀−θ_(A)), R sin(θ₀−θ_(A))). In other words, θ_(A) is subtracted from θ₀ to convert the X_(o)-Y_(o) coordinate system to the X_(A)-Y_(A) coordinate system. For example, as illustrated in FIG. 22B to FIG. 22E, when the operation part 850 of the actuator 165 is driven in the horizontal direction Xo and the vertical direction Yo in the coordinates of the display calculation processing part 700, and the operation part 850 is driven (in the operation directions 51 to 54) at angles acquired by respectively subtracting θ_(A) in the coordinates of the actuator 165, the coordinates in the actuator 165 match the coordinate system of the display calculation processing part 700, that is, the horizontal direction Xo and the vertical direction Yo for the vehicle in which the steering wheel 550 is installed, and the driver operating the steering wheel. Conversely, when the coordinates (X_(A)-Y_(A) coordinate system) of the actuator 165 are converted to the coordinates (X_(o)-Y_(o) coordinate system) of the display calculation processing part 700, θ_(A) only needs to be added to θ₀.

As illustrated in FIG. 23A, when the steering wheel 550 is rotated rightward by θ_(A), the coordinates (X_(A)-Y_(A) coordinate system) of the actuator 165 rotate rightward by θ_(A). Thus, the coordinates of the point A displayed on the display calculation processing device 700 are converted to (R cos(θ₀+θ_(A)), R sin(θ₀+θ_(A))). In other words, θ_(A) is added to θ₀ to convert the X_(o)-Y_(o) coordinate system to the X_(A)-Y_(A) coordinate system. For example, as illustrated in FIG. 23B to FIG. 23E, when the operation part 850 of the actuator 165 is driven in the horizontal direction Xo and the vertical direction Yo in the coordinates of the display calculation processing part 700, and the operation part 850 is driven (in the operation directions 51 to 54) at angles acquired by respectively adding θ_(A) in the coordinates of the actuator 165, the coordinates in the actuator 165 match the coordinate system of the display calculation processing part 700, that is, the horizontal direction Xo and the vertical direction Yo for the vehicle in which the steering wheel 550 is installed, and the driver operating the steering wheel. When the coordinates (X_(A)-Y_(A) coordinate system) of the actuator 165 are converted to the coordinates (X_(o)-Y_(o) coordinate system) of the display calculation processing part 700, θ_(A) is subtracted from θ₀.

As illustrated in FIG. 17, those coordinate conversions are realized by the control calculation processing part 94 receiving a signal 83 relating to the rotation angle θ_(A) of the steering wheel 550 from a rotation sensor or the like arranged on the rotation shaft of the steering wheel 550, and applying the above-mentioned calculation to the rotation angle signals 89 x and 89 y and the target position coordinate signals 80 x and 80 y of the movable unit 180.

As a result, for example, when the target direction displayed on the display calculation processing part 700 is the vertical direction or the horizontal direction, and the steering wheel 550 is at any rotation angle, correct input can be made by operating the operation part of the actuator 165 toward the direction displayed on the display calculation processing part 700. Moreover, when the steering wheel 550 is at any rotation angle, the operation part of the actuator 165 can be driven toward the target direction displayed on the display calculation processing part 700.

Further, as illustrated in FIG. 24, a switch part 960 having a ring shape may be arranged on a top of the detachment prevention member 201 of the fixed unit around the operation part 850 and the upper movable part 150. As a result, a switch operation for determination or selection can be carried out independently of the direction at any rotation position of the steering wheel 550.

A description has been given of the case in which the operation direction of the actuator 165 is held constant so as to be parallel with the horizontal direction X₀ and the vertical direction Y₀, but it should be understood that the operation direction can be held constant at a specified certain angle.

Even when the steering wheel 550 has been rotated in this way, the operation direction of the actuator 165 of the steering input/output operation device 750 is held constant in the horizontal direction and the vertical direction, which are the X₀Y₀ absolute coordinates, and the determination/recognition of the operation is thus extremely simplified. As a result, safety and security of the HMI is realized by suppressing the movement of the line of sight of the driver, and additionally enabling a touch operation without looking at a steering wheel through the tactile/force sense and the switch operation for the determination/selection independently of the direction even during traveling particularly while the steering wheel is rotated.

Second Embodiment

Referring to FIG. 25 to FIG. 54, a description is given of an actuator 165A according to a second embodiment of the present invention.

The basic structure of the actuator 165A according to the second embodiment is the same as that of the actuator 165 according to the first embodiment. Specifically, the actuator 165A according to the second embodiment is common to the actuator 165 according to the first embodiment in that the mechanical configuration of the above-mentioned “yajirobee” is employed. The movable unit 180 of the actuator 165A is pivotally supported by the fixed unit in a vicinity of the spherical center, and can rotate very stably in the three-axis directions. In the following, a description is mainly given of differences from the first embodiment, and a description of a common structure may be omitted.

FIG. 25 is an exploded perspective view for illustrating a schematic configuration of the actuator 165A. FIG. 26 is a perspective view for illustrating the actuator 165A viewed from above, and is a perspective view without the detachment prevention member 201. FIG. 27 is a cross sectional view for illustrating the actuator 165A taken on a plane containing the Z axis 10 and the rotation axis 12.

The actuator 165A includes the operation part 850, the movable unit 180 on which the operation part 850 is installed, and the fixed unit for supporting the movable unit 180.

The operation part 850 has a shape different from that of the operation part 850 according to the first embodiment, and includes the operation surface (surface) to be operated by the operator as in the first embodiment. The movable unit 180 includes a main body 802 including a shaft 801, two pairs of magnetic back yokes 670, the two pairs of drive magnets 401 and 402, and a first loosely fitted member 804 having a first loosely fitted surface 820. The fixed unit includes a base 811, a second loosely fitted member 808 having a second loosely fitted surface 821, a holder 807 including at least one coupling rod 806, a coupling member 809, the inclination angle detection magnet 406, the two pairs of drive coils 301 and 302, the magnetic bias magnet 508, and the sensor board 502 including the magnetic sensors 501 a, 501 b, 503 a, and 503 b.

As in the first embodiment, the movable unit 180 freely rotates with respect to the fixed unit independently of each other in the rotation direction 22 rotating about the Z axis 10, in the rotation direction 21 rotating about the rotation axis (X axis) 11 orthogonal to the Z axis 10, and passing through the spherical center 70, and in the rotation direction 20 rotating about the rotation axis (Y axis) 12 orthogonal to the Z axis 10, and passing through the spherical center 70. The rotation axis 11 and the rotation axis 12 are orthogonal to each other. Therefore, the actuator 165A also includes the first drive part and the second drive part for rotating (tilting) the movable unit 180 in the rotation direction 20 and the rotation direction 21, and the third drive part for rotating the operation part 850 in the rotation direction 22 with respect to the fixed unit. Each of the drive parts includes the combination of drive magnets, drive coils, and magnetic yokes. For example, the drive magnets are arranged in the movable unit 180, and the drive coils and the magnetic yokes are arranged in the fixed unit.

The main body 802 of the movable unit 180 includes a loosely fitted space inside, and uses the shaft 801 to support the operation part 850. The first loosely fitted member 804 includes the first loosely fitted surface 820 having an inner peripheral surface formed into a recessed portion. The first loosely fitted member 804 is arranged in the loosely fitted space so that the first loosely fitted surface 820 is exposed in the loosely fitted space. The second loosely fitted member 808 is a member having a substantially spherical shape, and includes the second loosely fitted surface 821 having a protruded spherical surface. The second loosely fitted member 808 is arranged substantially at the center of the holder 807. The first loosely fitted surface 820 is in point- or line-contact with the second loosely fitted surface 821 so as to be loosely fitted to the second loosely fitted surface 821. As a result, the holder 807 can support the movable unit 180 for free rotation.

FIG. 28A is a perspective view for illustrating the holder 807. FIG. 28B is a perspective view for illustrating the base 811 for supporting the holder 807. FIG. 29A is a perspective view for illustrating a first variation of the holder 807. FIG. 29B is a perspective view for illustrating the base 811 for supporting the first variation of the holder 807. FIG. 30A is a perspective view for illustrating a second variation of the holder 807. FIG. 30B is a perspective view for illustrating the base 811 for supporting the second variation of the holder 807.

The holder 807 includes at least one coupling rod 806 extending from the base 811 toward the loosely fitted space of the main body 802 of the movable unit 180. As illustrated in FIG. 28A and FIG. 28B, the holder 807 typically includes four coupling rods extending from the base 811 toward the loosely fitted space in parallel with an opening surface (XY plane of FIG. 28) of the base 811, and has a cross shape. The second loosely fitted member 808 is arranged at an intersection of the four coupling rods. For example, the holder 807 may be fixed to the vicinity of the opening of the base 811 by the coupling rods 806.

The shape of the holder 807 is not limited to the cross shape, and may be various shapes. According to the second embodiment, the center of rotation of the movable unit 180 matches the spherical center of the protruded spherical surface of the second loosely fitted member 808. Moreover, as in the first embodiment, the center of gravity of the movable unit 180 matches the center of rotation of the movable unit 180. The first variation of the holder 807 illustrated in FIG. 29A includes four coupling rods extending from a position of the base 811 below the center of rotation of the movable unit toward the loosely fitted space not in parallel with the XY plane. For example, the holder 807 may be fixed to side surfaces of the base 811 positioned between the opening surface and a bottom surface of the base 811. The number of the coupling rods is not limited to four, and needs only to be two or more.

The second variation of the holder 807 illustrated in FIG. 30A includes one coupling rod extending in parallel with the Z axis. For example, the holder 807 may be fixed to a bottom portion of the base 811.

The holders 807 illustrated in FIG. 29A and FIG. 30A increase in a support force against a force from above in the Z axis direction, and become less likely to deform even when the force in the Z axis direction is received during the operation.

FIG. 31A and FIG. 31B are cross sectional views for illustrating the first loosely fitted member 804, the second loosely fitted member 808, and the holder 807 along a pair of coupling rods 806. FIG. 32 is a cross sectional view for illustrating, in an enlarged manner, a cross section of the first loosely fitted member 804 and the second loosely fitted member 808 taken along the pair of coupling rods 806.

The holder 807 includes a magnet or a magnetic substance for attracting the first loosely fitted surface 820 and the second loosely fitted surface 821 by a magnetic force. For example, the holder 807 may be made of a magnetic substance. In this case, an attraction magnet 830 may be arranged on the first loosely fitted member 804 so as to surround the second loosely fitted member 808 under a state in which the first loosely fitted surface 820 is loosely fitted to the second loosely fitted surface 821 (neutral state).

As illustrated in FIG. 3B, the first loosely fitted member 804 may be made of a magnetic substance, and the attraction magnet 830 may be arranged on an external surface of the holder 807 on the opposite side of the second loosely fitted surface 821. In this case, the first loosely fitted surface 820 includes a protruded surface shape and the second loosely fitted surface 821 includes a recessed surface shape. In this mode, the center of rotation of the movable unit matches the spherical center of the protruded spherical surface of the first loosely fitted member 804. A displacement of the attraction magnet 830 on a plane orthogonal to the Z axis decreases when the movable unit 180 rotates by using the attraction magnet 830 and the magnetic substance in this way. Therefore, the magnetic attraction force is less likely to displace from the spherical center, thereby enabling a stable rotation of the movable unit 180.

As illustrated in FIG. 32, the inner peripheral surface (namely, the first loosely fitted surface 820) formed into the recessed portion of the first loosely fitted member 804 includes a conical surface. For example, the vertical angle of a cone constructing the conical surface is preferably from 70 degrees to 110 degrees.

FIG. 33 is a cross sectional view for illustrating the holder 807, the first loosely fitted member 804, and a plurality of second loosely fitted members 808 taken along the pair of coupling rods 806 in a case where the holder 807 includes the plurality of second loosely fitted members 808.

As illustrated in FIG. 33, such a configuration may be employed that a plurality of second loosely fitted surfaces (protruded spherical surfaces) 821 loosely fitted to the first loosely fitted surface 820, which is the inner peripheral surface formed into the recessed portion. This configuration can lower the profile of actuator 165A without changing the center of rotation of the movable unit 180 by using the plurality of protruded spherical surfaces decreased in size. In this case, the center of rotation of the movable unit 180 is positioned below the respective spherical centers of the plurality of protruded spherical surfaces. For example, as illustrated in FIG. 33, the profile of the actuator 165A can be lowered by Δd by using three second loosely fitted members 808 compared to the case where the single second loosely fitted member 808 is used.

FIG. 34 is a perspective view for illustrating the actuator 165A under a state in which the operation part 850 is tilted by a predetermined angle with respect to the fixed unit. FIG. 35A is a cross sectional view for illustrating the actuator 165A taken along the pair of coupling rods 806 under a state in which the operation part 850 is tilted by a first angle with respect to the fixed unit. FIG. 35B is a cross sectional view for illustrating the actuator 165A taken along the pair of coupling rods 806 when the operation part 850 is in a neutral state. FIG. 35C is a cross sectional view for illustrating the actuator 165A taken along the pair of coupling rods 806 under a state in which the operation part 850 is tilted by a second angle with respect to the fixed unit.

As illustrated in FIG. 25 and FIG. 34, the pair of drive magnets 401 are arranged in the main body 802 of the movable unit 180 along the rotation axis 11, and the pair of drive magnets 402 are arranged in the main body 802 along the rotation axis 12. A pair of coupling rods 806 out of the two pairs of coupling rods 806 of the holder 807 are arranged in the base 811 in a first direction (corresponding to the straight line 13 of FIG. 1), which is a direction acquired by rotating the rotation axis 11 by 45 degrees in the XY plane, and another pair of coupling rods 806 are arranged in the base 811 in a second direction (corresponding to the straight line 14 of FIG. 1), which is a direction orthogonal to the first direction and parallel with the XY plane. The drive part described later can rotate the operation part 850 about a rotation axis parallel with the XY plane. The drive part can tilt the operation part 850 by a predetermined angle, for example, in a direction along the pair of coupling rods 806. As illustrated in FIG. 35B, under the neutral state in which the operation part 800 is not tilted with respect to the fixed unit, the magnetic sensors 501 a, 501 b, 503 a, and 503 b and the tilt angle detection magnet 406 are opposed to each other in the Z axis direction.

A description is now given of a structure of the actuator 165A and an arrangement of conductive wires of the sensor board 502 as a configuration of the holder 807 when the second variation of the holder 807 illustrated in FIG. 30A is employed.

FIG. 36 is a cross sectional view taken along the first direction (corresponding to the straight line 13 of FIG. 1) for illustrating the actuator 165A including the holder 807 having one coupling rod 806. FIG. 37 is a perspective view for illustrating the holder 807 having the one coupling rod 806.

In the holder 807, the four magnetic sensors 501 a, 501 b, 503 a, and 503 b are arranged on the sensor board 502 on a circumference thereof at a substantially equal interval. An opening for passing the conductive wires therethrough is formed at an upper portion of the coupling rod 806 of the holder 807. The conductive wires are wired along the Z axis inside the coupling rod 806. The conductive wires electrically connect the respective magnetic sensors to an external circuit (not shown) for detecting the signals from the respective magnetic sensors. Moreover, the inclination angle detection magnet 406 may be arranged on a circumference of the first loosely fitted member 804 about the Z axis so as to be opposed to the sensor board arranged on the holder 807 in the neutral state of the movable unit 180.

FIG. 38 is a perspective view for illustrating the movable unit 180, which includes two pairs of drive magnets 401 and 402, and on which the operation part 850 is installed. FIG. 39 is a perspective view for illustrating the actuator 165A viewed from above, and is a perspective view without the detachment prevention member 201. FIG. 40A is a perspective view for illustrating the actuator 165A without the operation part 850. FIG. 40B is a top view for illustrating the actuator 165A viewed in the Z axis 10 direction.

In FIG. 40A and FIG. 40B, three pairs of drive parts for rotating the movable unit 180 about X and Y axes are arranged. With this arrangement, driving forces of the respective drive coils can be distributed for a required operation of the movable unit 180. When drive currents applied to the respective drive coils are the same, a driving force for driving the movable unit 180 can be increased in the movable unit 180 for which the three pairs of drive parts are arranged compared to the case where two pairs of drive parts are arranged. Moreover, three or more drive parts may be arranged for rotating the movable unit about the X and Y axes in the XYZ Cartesian coordinate system. FIG. 41A is a perspective view for illustrating the magnetic yoke 204 sandwiched by a pair of bobbins 851. FIG. 41B is a perspective view for illustrating the drive coil 303 for the third drive part. FIG. 41C is a perspective view for illustrating the magnetic yoke 204, which is sandwiched by the pair of bobbins 851, and on which the drive coil 303 is wound. FIG. 410 is a perspective view for illustrating the drive coil 302. FIG. 41E is a perspective view for illustrating a coil unit 840 under a state in which the drive coil 302 is further wound on an outside of the drive coil 303 wound on the magnetic yoke 204. FIG. 42 is a cross sectional view for illustrating the actuator 165A taken along the rotation axis 12. FIG. 43A is a schematic view for illustrating a state in which the coil unit 840 is detached from the base 811. FIG. 43B is a schematic view for illustrating a state in which the coil unit 840 is installed on the base 811. FIG. 44 is a schematic view for illustrating, in an enlarged manner, a vicinity of an opening of the base 811 into which the coil unit 840 is to be inserted.

In the main body 802 of the movable unit 180, the pair of drive magnets 401 are arranged along the rotation axis 11, and the pair of drive magnets 402 are arranged along the rotation axis 12. In the neutral state of the movable unit 180, the pair of drive coils 301 wound on the pair of magnetic yokes 203 made of the magnetic substance are arranged on the base 811 so as to be opposed to the pair of drive magnets 401, and the pair of drive coils 302 wound on the pair of magnetic yokes 204 made of the magnetic substance are arranged on the base 811 so as to be opposed to the pair of drive magnets 402. Herein, a unit including the magnetic yoke arranged in the fixed unit and the drive coil wound on the magnetic yoke may be referred to as “coil unit 840”.

The first drive part includes the pair of drive magnets 401, the pair of drive coils 301, and the pair of magnetic yokes 203. Further, the pair of drive coils 303, which are the third drive part for the rotational drive in the rotation direction 22 about the Z axis 10 described later, are wound inside the pair of drive coils 301.

The second drive part includes the pair of drive magnets 402, the pair of drive coils 302, and the pair of magnetic yokes 204. Further, the pair of drive coils 303, which are the third drive part for the rotational drive in the rotation direction 22 about the Z axis 10 described later, are wound inside the pair of drive coils 302.

The first detection part for detecting the rotation angles in the rotation direction 20 and the rotation direction 21 and the second detection part for detecting the rotation angle in the rotation direction 22 described in the first embodiment are also arranged for the actuator 165A according to the second embodiment. The first detection part provides the function of the second detection part for the same reason as that described in the first embodiment. In other words, the first detection part can also detect the rotation angle in the rotation direction 22.

The coil unit 840 is formed by winding the drive coil 303 on the magnetic yoke 204 sandwiched by the pair of bobbins 851, and further winding the drive coil 302 outside the drive coil 303. The pair of bobbins 851 are members corresponding to the magnetic yoke holders 203L and 203R or 204L and 204R described in the first embodiment. The direction of the winding of each of the coils is as described in the first embodiment. The coil unit 840 may be attached to and detached from the base 811 of the fixed unit.

As illustrated in FIG. 44, the base 811 includes a space for accommodating the coil unit 840. Coil unit stoppers 856 for restricting a movement of the coil unit 840 toward the drive magnet side under the state in which the coil unit 840 is installed on the base 811 are arranged in a vicinity of a boundary between the space and the base 811. Moreover, abutment portions 855 are arranged on the coil unit 840. The movement of the coil unit 840 toward the drive magnet side is restricted by the abutment portions 855 abutting against the coil unit stoppers 856 under the state in which the coil unit 840 is installed on the base 811.

FIG. 45A is a cross sectional view taken along the rotation axis 12, for illustrating the actuator 165A including the detachment prevention member 201 in the neutral state. FIG. 45B is a cross sectional view taken along the rotation axis 12, for illustrating the actuator 165A including the detachment prevention member 201 under a state in which the movable unit 180 is tilted in the direction of the rotation axis 12 by a predetermined angle with respect to the fixed unit. FIG. 46 is a cross sectional perspective view for illustrating the actuator 165A including the detachment prevention member 201 under the state in which the movable unit 180 is tilted in the direction of the rotation axis 12 by the predetermined angle with respect to the fixed unit. FIG. 47 is a top view for illustrating the actuator 165A including the detachment prevention member 201 viewed in the Z axis direction.

As in the first embodiment, the actuator 165A may include the detachment prevention restriction surface 201A for restricting the movement of the main body 802 so that the movable unit 180 is not detached from the fixed unit, and may further include the detachment prevention member 201 fixed to the base 811. The detachment prevention member 201 according to the second embodiment includes openings 201B capable of receiving a part of the main body 802 and/or the pair of drive magnets 401 and 402 when the main body 802 and/or the pair of drive magnets 401 and 402 abut against the detachment prevention member 201 by the rotations of the main body 802 and/or the pair of drive magnets 401 and 402. This configuration can decrease the thickness of the actuator 165A while certain movable ranges (angles) are secured.

FIG. 48 is a cross sectional perspective view taken along the rotation axis 12, for illustrating the actuator 165A including an operation guide 881 in the neutral state. FIG. 49 is a perspective view for illustrating the movable unit 180, which includes the operation guide 881, and on which the operation part 850 is installed. FIG. 50 is a perspective view for illustrating, in an enlarged manner, a guide pin 882 and a coupling member 809 of the movable unit 180. FIG. 51 is a perspective view for illustrating the holder 807 to which the operation guide 881 is fixed. FIG. 52 are diagrams for illustrating how a profile of the actuator 165A can be lowered by arranging the operation guide 881 in the loosely fitted space.

The holder 807 includes the operation guide 881 for restricting the rotation of the movable unit 180 with respect to the fixed unit. The operation guide 881 is positioned in the loosely fitted space of the main body 802. Specifically, the operation guide 881 includes four grooves having a cross shape to be fitted to the four coupling rods 806. The operation guide 881 is fixed to a position where the four coupling rods 806 cross one another under a state in which the four coupling rods 806 are fitted to the four grooves.

A guide groove 881A is formed on the operation guide 881 fixed to the holder 807. The guide pin 882 arranged on the coupling member 809 including the inclination angle detection magnet 406 on a rear surface thereof is in contact with the guide groove 881A. The coupling member 809 may be fixed to the main body 802 by screws or adhesive, for example. Thus, the rotation of the movable unit 180 (that is, the operation part 850) is restricted by the operation guide 881.

As illustrated in FIG. 52(a), the operation guide 881 may be arranged on an upper surface of the detachment prevention member 201, that is, between the detachment prevention member 201 and the operation part 850. As illustrated in FIG. 52(b), the profile of the actuator 165A can be lowered by Δd by arranging the operation guide 881 in the loosely fitted space.

FIG. 53 is a cross sectional perspective view for illustrating the actuator 165A according to a modification example of the second embodiment taken on a plane containing the Z axis 10 and the rotation axis 12. In the second embodiment, the first loosely fitted member 804 includes the inner peripheral surface formed into the recessed portion and the second loosely fitted member 808 includes the protruded spherical surface, but the second embodiment is not limited to this configuration. As illustrated in FIG. 53, the first loosely fitted member 804 may include a protruded spherical surface, and the second loosely fitted member 808 may include an inner peripheral surface formed into a recessed portion (recessed spherical surface). The relationship between the loosely fitted surfaces corresponds to the configuration illustrated in FIG. 31B. Also with this configuration, the movable unit 180 of the actuator 165A is pivotally supported by the fixed unit in the vicinity of the spherical center of the protruded spherical surface, and can rotate very stably in the three-axis directions.

INDUSTRIAL APPLICABILITY

The steering input/output operation device disclosed in this application is preferably used as a human-machine interface (HMI) to be used in various fields, and is preferably used as an input/output operation device for operating, for example, a navigation system, an air conditioner, an audio device, and a radio in a vehicle.

REFERENCE SIGNS LIST

-   10 Z axis -   11, 12 rotation axis -   13, 14 straight line -   20, 21, 22 rotation direction -   94 control calculation processing part -   70 spherical center -   850 operation part -   180 movable unit -   102W opening part -   102R protruded spherical surface -   165, 165A actuator -   200 base -   200A recessed spherical surface -   200P, 200T opening part -   201 detachment prevention member -   201A detachment prevention restriction surface -   203, 204 magnetic yoke -   301, 302, 303 drive coil -   350 drive circuit part -   360 detection circuit part -   401, 402 drive magnet -   406 inclination angle detection magnet -   501 a, 501 b, 503 a, 503 b magnetic sensor -   508 magnetic bias magnet -   550 steering wheel -   551 rim -   552 hub -   553 rotation shaft -   600 coil spring -   650, 806 coupling rod -   670 magnetic back yoke -   700 display calculation processing part -   750 steering input/output operation device -   801 shaft -   802 main body -   804 first loosely fitted member -   807 holder -   808 second loosely fitted member -   809 coupling member -   881 operation guide -   882 guide pin 

The invention claimed is:
 1. An input/output operation device, comprising: an operation part comprising a surface to be operated by an operator; a movable unit comprising a loosely fitted space inside, a main body supporting the operation part and comprising a first loosely fitted surface exposed in the loosely fitted space, and at least one drive magnet; a fixed unit comprising a second loosely fitted surface in point- or line-contact with the first loosely fitted surface of the movable unit, a holder supporting the movable unit for free rotation, a base comprising a space for accommodating at least a part of the movable unit and supporting the holder, and at least one drive coil; a drive part to rotate the movable unit with respect to the fixed unit, the drive part comprising the at least one drive magnet and the at least one drive coil; and a detector to detect a position of the operation part in the fixed unit, wherein one of the first loosely fitted surface and the second loosely fitted surface comprises an inner peripheral surface formed into a recessed portion, and another one of the first loosely fitted surface and the second loosely fitted surface comprises at least one protruded spherical surface.
 2. The input/output operation device of claim 1, wherein the holder comprises at least one coupling rod extending from the base toward the loosely fitted space of the movable unit.
 3. The input/output operation device of claim 2, wherein: when an XYZ Cartesian coordinate system having a center of rotation of the movable unit as an origin is defined, the operation part is positioned in a direction of a Z axis under a state in which the movable unit is not rotated with respect to the fixed unit; and the holder comprises at least two coupling rods extending, in parallel with an XY plane, from the base toward the loosely fitted space of the movable unit.
 4. The input/output operation device of claim 2, wherein: when an XYZ Cartesian coordinate system having a center of rotation of the movable unit as an origin is defined, the operation part is positioned in a direction of a Z axis under a state in which the movable unit is not rotated with respect to the fixed unit; and the holder comprises at least two coupling rods extending, not in parallel with an XY plane, from a position of the base below the center of rotation of the movable unit toward the loosely fitted space of the movable unit.
 5. The input/output operation device of claim 2, wherein: when an XYZ Cartesian coordinate system having a center of rotation of the movable unit as an origin is defined, the operation part is positioned in a direction of a Z axis under a state in which the movable unit is not rotated with respect to the fixed unit; and the holder comprises one coupling rod extending substantially in parallel with the Z axis.
 6. The input/output operation device of claim 1, wherein the holder comprises a magnet or a magnetic substance for attracting the first loosely fitted surface and the second loosely fitted surface by a magnetic force.
 7. The input/output operation device of claim 1, wherein the inner peripheral surface formed into the recessed portion comprises a conical surface.
 8. The input/output operation device of claim 1, wherein: the another one of the first loosely fitted surface and the second loosely fitted surface comprises a protruded spherical surface; and a center of rotation of the movable unit matches a spherical center of the protruded spherical surface.
 9. The input/output operation device of claim 1, wherein: the another one of the first loosely fitted surface and the second loosely fitted surface comprises a plurality of protruded spherical surfaces; and a center of rotation of the movable unit is positioned below respective spherical centers of the plurality of protruded spherical surfaces under a state in which the movable unit is not rotated with respect to the fixed unit.
 10. The input/output operation device of claim 1, wherein: when an XYZ Cartesian coordinate system having a center of rotation of the movable unit as an origin is defined, the operation part is positioned in a direction of a Z axis under a state in which the movable unit is not rotated with respect to the fixed unit; the drive part is capable of rotating the movable unit about a rotation axis parallel with an XY plane; and the detector comprises a first detection part to detect a rotation angle about the rotation axis of the movable unit.
 11. The input/output operation device of claim 10, wherein: the first detection part comprises: a sensor element provided on the fixed unit; and a detection subject provided on the main body; and the sensor element and the detection subject are opposed to each other in the direction of the Z axis under the state in which the movable unit is not rotated with respect to the fixed unit.
 12. The input/output operation device of claim 10, wherein: the first detection part comprises: a detection subject provided on the main body; and a sensor element provided on the holder; and the sensor element and the detection subject are opposed to each other in the direction of the Z axis under the state in which the movable unit is not rotated with respect to the fixed unit.
 13. The input/output operation device of claim 12, wherein the detection subject is provided on a circumference about the Z axis.
 14. The input/output operation device of claim 10, wherein: the drive part comprises a first drive part and a second drive part, which rotate the movable unit about an X axis and a Y axis of the XYZ Cartesian coordinate system, respectively; and each of the first drive part and the second drive part comprises: a pair of drive magnets arranged symmetrically about the Z axis in the movable unit; and a coil unit comprising a pair of magnetic yokes arranged in the fixed unit so as to be opposed to the pair of drive magnets, respectively, and a pair of drive coils wound on the pair of magnetic yokes, respectively.
 15. The input/output operation device of claim 14, wherein: the drive part further comprises a third drive part to rotate the movable unit about the Z axis; the detector comprises a second detection part to detect a rotation angle about the Z axis of the movable unit; and the third drive part comprises two pairs of drive coils wound on the pairs of magnetic yokes of the first drive part and the second drive part, respectively, and uses the pair of drive magnets of each of the first drive part and the second drive part as drive magnets of the third drive part.
 16. The input/output operation device of claim 14, wherein: the coil unit is detachably provided on the base of the fixed unit, and abuts against the base by magnetic attraction forces between the pair of drive magnets and the pair of magnetic yokes; and the base comprises a coil unit stopper to restrict a movement of the coil unit toward the pair of drive magnets.
 17. The input/output operation device of claim 1, further comprising a detachment prevention member fixed to the base and comprising a restriction surface for restricting a movement of the main body so that the movable unit is not detached from the fixed unit.
 18. The input/output operation device of claim 14, further comprising a detachment prevention member fixed to the base and comprising a restriction surface for restricting a movement of the main body so that the movable unit is not detached from the fixed unit, wherein the detachment prevention member comprises an opening capable of receiving a part of the main body and/or the pair of drive magnets.
 19. The input/output operation device of claim 1, wherein the holder comprises an operation guide to restrict the rotation of the movable unit with respect to the fixed unit.
 20. The input/output operation device of claim 19, wherein the operation guide is arranged in the loosely fitted space of the main body.
 21. The input/output operation device of claim 1, wherein a center of gravity of the movable unit supporting the operation part matches a center of rotation of the movable unit. 